JP2016100994A - Motor control device and generator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable relaxation of complexity of design and prevention of degradation of control performance for a motor control device.SOLUTION: A motor control device 100 applies a voltage vector to a three-phase motor 102 by using an inverter 101 so that the motor magnetic flux of the three-phase motor 102 follows an instruction magnetic flux vector. The motor control device 100 has a phase specifying part 111, an amplitude specifying part 115 and an instruction magnetic flux specifying part 112. The phase specifying part 111 specifies, with an instructed speed, a movement amount of each control period at which the phase of the motor magnetic flux should be moved, and specifies the phase of the instruction magnetic flux vector by using the specified movement amount. The amplitude specifying part 115 specifies the amplitude of the instructed magnetic flux vector. The instructed magnetic flux specifying part 112 specifies the instruction magnetic flux vector by using the phase of the instruction magnetic flux vector specified by the phase specifying part 111 and the amplitude of the instruction magnetic flux vector specified by the amplitude specifying part 115.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a motor control device and a generator control device.

Conventionally, various methods are known as a driving method of a three-phase motor. An example of a driving method of the three-phase motor is direct torque control (DTC). In an example of direct torque control configured with a speed control system, a motor control unit 903 as shown in FIG. 18 is used. In the motor control unit 903, the phase currents i _u and i _w are converted into axial currents i _α and i _β by the u, w / α, β conversion unit 906. The motor magnetic flux estimator 908 estimates the motor magnetic flux (estimated magnetic flux Ψ _s is obtained). The α-axis component and β-axis component of the estimated magnetic flux ψ _s are described as estimated magnetic fluxes ψ _α and ψ _β , respectively. The speed-position calculating unit 962, the estimated magnetic flux [psi _s, of the three-phase motor speed and phase are estimated motor flux (phase theta _s estimated velocity omega _r and the estimated magnetic flux [psi _s is determined). The torque estimating unit 963 estimates the motor torque from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β (the estimated torque _Te is obtained). The speed control unit 964 generates a command torque T _e ^* such that the current estimated speed ω _r matches the command speed ω _ref ^* . The amplitude specifying unit 961 generates a command amplitude | Ψ _s ^* | from the command torque T _e ^* . The torque deviation calculation unit 911 obtains a deviation (torque deviation) ΔT between the estimated torque _Te and the command torque _Te ^* . The command magnetic flux specifying unit 912 obtains the command magnetic flux vector ψ _s ^* from the command amplitude | Ψ _s ^* |, torque deviation ΔT, and phase θ _s . The α-axis component and β-axis component of the command magnetic flux vector ψ _s ^* are described as α-axis command magnetic flux ψ _α ^* and β-axis command magnetic flux ψ _β ^* , respectively. the alpha-axis magnetic flux deviation calculation unit 913a, alpha axis command flux [psi _alpha ^* and the estimated flux [psi _alpha and deviation (the magnetic flux deviation) [Delta] [Psi] _alpha is obtained. the beta-axis magnetic flux deviation calculation unit 913b, beta axis command flux [psi _beta ^* and the estimated flux [psi _beta and deviation (the magnetic flux deviation) [Delta] [Psi] _beta is obtained. The voltage command calculation unit 907 obtains the shaft voltages v _α ^* and v _β ^* from the magnetic flux deviations ΔΨ _α and ΔΨ _β and the shaft currents i _α and i _β . The α, β / u, v, w conversion unit 909 converts the shaft voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* . The inverter is switched so that voltage vectors corresponding to the command voltage vectors v _u ^* , v _v ^* , v _w ^* are applied to the three-phase motor. The configuration of the speed control system is used when driving the compressor in the refrigeration air conditioner.

  With direct torque control, position sensors such as encoders and resolvers can be omitted.

  Patent Document 1, Non-Patent Document 1, Non-Patent Document 2, and Non-Patent Document 3 describe techniques related to a motor control device using direct torque control.

Japanese Patent No. 4972135

Torino ripple reduction, and flux-weakening control for interior permanent magnet synchronous motor based on direct torque control, S. Inoue, Shigeo Morimoto, Masayuki Sanada, Yoji Takeda, ) ”, Proceedings of the 2006 Annual Conference of the Institute of Electrical Engineers of Japan, The Institute of Electrical Engineers of Japan, March 2006, Volume 4, 4-106, p. 166-167 Tetsuya Matsuyama, Yuki Yoshimoto, Yoshio Togashi, Masanori Inoue, Shigeo Morimoto: “Discrete Error Compensation Method in Motor Drive System Using Direct Torque Control”, Denki Kenkyu, MD-14-086 / RM-14-049 / VT -14-021, pp. 75-79 (2014) Masanori Inoue, Shigeo Morimoto, Masayuki Sanada, “A reference value calculation scheme for torque and flux and an anti-windup implementation of torque controller for direct torque control of permanent magnet synchronous motor), IEEJ Transactions D, 130, 6, p. 777-784 (2010)

  Conventional motor control devices have room for improvement in terms of design complexity. There is also room for improvement in terms of control performance. The present invention has been made in view of such circumstances.

That is, this disclosure
A motor control device that applies a voltage vector to the three-phase motor using an inverter so that the motor magnetic flux of the three-phase motor follows a command magnetic flux vector,
A phase specifying unit for specifying a movement amount for each control cycle in which the phase of the motor magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
An amplitude specifying unit for specifying the amplitude of the command magnetic flux vector;
A command magnetic flux specifying unit for specifying the command magnetic flux vector using the phase of the command magnetic flux vector specified by the phase specifying unit and the amplitude of the command magnetic flux vector specified by the amplitude specifying unit;
A motor control device comprising:

  According to the motor control device described above, the complexity of design can be reduced. In addition, a decrease in control performance can be prevented.

Block diagram of motor controller Diagram for explaining dq coordinate system and αβ coordinate system Block diagram of the motor control unit of the first embodiment The block diagram of the phase specific | specification part of 1st Embodiment Inverter configuration diagram Block diagram of motor control section of modification 1-1 Block diagram of torque estimation unit of modification 1-1 Block diagram of phase identification unit of modification 1-1 Block diagram of motor control section of modification 1-2A Block diagram of motor control unit of modification 1-2B Block diagram of the amplitude correction amount generation unit of Modification 1-2A The block diagram of the amplitude correction amount production | generation part of the modification 1-2B Block diagram of motor control unit of modification 1-3 Block diagram of motor control unit of second embodiment The block diagram of the phase specific | specification part of 2nd Embodiment Block diagram of motor control unit of modification 2-1A Block diagram of motor control unit of modification 2-1B Block diagram of motor control unit of modification 2-1C Block diagram of motor control unit of modification 2-1D Block diagram of phase specifying unit of modification 2-1A Block diagram of phase specifying unit of modification 2-1B Block diagram of phase specifying unit of modification 2-1C Block diagram of phase specifying unit of modification 2-1D Block diagram of motor controller of modification 2-2 Block diagram of motor controller of modification 2-3 Block diagram of a conventional motor control unit

  According to the studies by the present inventors, in the conventional motor control device, the presence of the speed control unit complicates the design of the motor control device. Further, the presence of the speed control unit has deteriorated the control performance. The decrease in control performance becomes apparent when the speed of the three-phase motor is low. In view of such circumstances, the present inventors have studied to provide a motor control device that does not require a speed control unit.

That is, the first aspect of the present disclosure is:
A motor control device that applies a voltage vector to the three-phase motor using an inverter so that the motor magnetic flux of the three-phase motor follows a command magnetic flux vector,
A phase specifying unit for specifying a movement amount for each control cycle in which the phase of the motor magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
An amplitude specifying unit for specifying the amplitude of the command magnetic flux vector;
A command magnetic flux specifying unit for specifying the command magnetic flux vector using the phase of the command magnetic flux vector specified by the phase specifying unit and the amplitude of the command magnetic flux vector specified by the amplitude specifying unit;
A motor control device comprising:

  According to the 1st aspect, the motor control apparatus which does not require a speed control part can be comprised easily. Therefore, the complexity of designing the motor control device can be reduced. In addition, a decrease in control performance can be prevented.

  In addition to the first aspect, a second aspect of the present disclosure provides a motor control device that identifies the phase of the command magnetic flux vector by integrating the movement amount.

  According to the second aspect, the phase of the command magnetic flux vector can be easily specified. Further, according to the second aspect, the phase of the command magnetic flux vector can be specified by feedforward control. This leads to a reduction in calculation load of the motor control device.

The third aspect of the present disclosure includes, in addition to the first aspect,
A motor current on a three-phase AC coordinate in the three-phase motor is represented by a two-phase coordinate, and a voltage vector to be applied to the three-phase motor is represented by the two-phase coordinate. A motor magnetic flux estimator for estimating the motor magnetic flux applied to the three-phase motor using a shaft voltage;
A phase estimation unit that estimates the phase of the motor magnetic flux using the estimated motor magnetic flux, and
The phase identification unit provides a motor control device that identifies the phase of the command magnetic flux vector using the phase of the motor magnetic flux estimated by the phase estimation unit and the movement amount.

  According to the third aspect, the phase of the command magnetic flux vector can be easily specified. In the third mode, the motor magnetic flux estimated for specifying the phase of the command magnetic flux vector is used, and the axial current is used for the estimation. This means that the motor current information is reflected in the specification of the phase of the command magnetic flux vector, which contributes to appropriately setting the phase of the command magnetic flux vector and stabilizes the driving of the three-phase motor. Useful.

According to a fourth aspect of the present disclosure, in addition to any one of the first to third aspects,
The phase specifying unit (i) corrects the command speed using the estimated vibration component of the motor torque, specifies the movement amount using the corrected command speed, and determines the specified movement amount. To identify the phase of the command magnetic flux vector, or (ii) identify the amount of movement using the command speed, and correct the identified amount of movement using a vibration component of the estimated motor torque And a motor control device that identifies the phase of the command magnetic flux vector using the corrected amount of movement.

  According to the fourth aspect, information on the vibration component of the motor torque is reflected when the phase of the command magnetic flux vector is specified. This helps to stabilize the driving of the three-phase motor.

According to a fifth aspect of the present disclosure, in addition to any one of the first to fourth aspects,
The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
(A) a first inner product of the estimated motor magnetic flux and a shaft current that is a two-phase coordinate representing a motor current on a three-phase AC coordinate in the three-phase motor, or (b) the three-phase motor A feedback control using the second inner product of the estimated magnetic flux of the permanent magnet of the motor and the axial current representing the motor current on the three-phase AC coordinate in the three-phase motor by the two-phase coordinate. A correction unit that corrects the provisional amplitude and specifies a correction amplitude as the amplitude to be given to the command magnetic flux specifying unit is provided.

  The first inner product and the second inner product in the fifth aspect are effective indexes for correcting the amplitude (temporary amplitude) of the command magnetic flux vector. The motor control device according to the fifth aspect corrects the amplitude of the command magnetic flux vector using such first inner product or second inner product. According to such correction, control according to the purpose can be easily realized.

The sixth aspect of the present disclosure is in addition to any one of the first to fourth aspects,
The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
A discretization error compensator for identifying a compensation amplitude smaller than the temporary amplitude as the amplitude to be given to the command magnetic flux specifying unit, wherein the higher the speed of the three-phase motor, the higher the temporary amplitude and the compensation There is provided a motor control device having a discretization error compensator that specifies the compensation amplitude so that a difference from the use amplitude becomes large.

  When the motor control device is configured in a discrete system, the amplitude of the command magnetic flux vector that is actually applied to the three-phase motor is larger than the amplitude of the command magnetic flux vector. That is, when the motor control device is configured in a discrete system, a so-called discretization error occurs. The discretization error increases as the speed of the three-phase motor increases. In the motor control device of the sixth aspect, in consideration of the discretization error, an amplitude (compensation amplitude) smaller than the amplitude (provisional amplitude) of the magnetic flux vector to be actually applied to the three-phase motor is supplied to the command magnetic flux specifying unit. Given. As a result, the discretization error is mitigated.

According to a seventh aspect of the present disclosure, in addition to any one of the first to fourth aspects,
The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
(A) a first inner product of the estimated motor magnetic flux and a shaft current that is a two-phase coordinate representing a motor current on a three-phase AC coordinate in the three-phase motor, or (b) the three-phase motor A feedback control using the second inner product of the estimated magnetic flux of the permanent magnet of the motor and the axial current representing the motor current on the three-phase AC coordinate in the three-phase motor by the two-phase coordinate. A correction unit that corrects the temporary amplitude and identifies a correction amplitude,
A discretization error compensator that specifies a compensation amplitude smaller than the correction amplitude as the amplitude to be given to the command magnetic flux specifying unit, the higher the speed of the three-phase motor, the higher the correction amplitude and the compensation There is provided a motor control device including a discretization error compensator that identifies the compensation amplitude so that a difference from the compensation amplitude becomes large.

  According to the seventh aspect, both the effects of the fifth aspect and the sixth aspect can be obtained.

The eighth aspect of the present disclosure is:
A generator control device that applies a voltage vector to the three-phase generator using a converter so that the generator magnetic flux of the three-phase generator follows a command magnetic flux vector,
A phase specifying unit for specifying a movement amount for each control cycle in which the phase of the generator magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
An amplitude specifying unit for specifying the amplitude of the command magnetic flux vector;
A command magnetic flux specifying unit for specifying the command magnetic flux vector using the phase of the command magnetic flux vector specified by the phase specifying unit and the amplitude of the command magnetic flux vector specified by the amplitude specifying unit;
A generator control device comprising:

The ninth aspect of the present disclosure is:
A motor control method for applying a voltage vector to the three-phase motor using an inverter so that the motor magnetic flux of the three-phase motor follows a command magnetic flux vector,
Identifying a movement amount for each control cycle in which the phase of the motor magnetic flux should move using a command speed, and identifying a phase of the command magnetic flux vector using the identified movement amount;
Identifying the amplitude of the command magnetic flux vector;
Identifying the command magnetic flux vector using the phase of the identified command magnetic flux vector and the amplitude of the identified command magnetic flux vector;
A motor control method is provided.

A tenth aspect of the present disclosure includes
A generator control method of applying a voltage vector to the three-phase generator using a converter so that a generator magnetic flux of the three-phase generator follows a command magnetic flux vector,
Specifying a movement amount for each control cycle in which the phase of the generator magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
Identifying the amplitude of the command magnetic flux vector;
Identifying the command magnetic flux vector using the phase of the identified command magnetic flux vector and the amplitude of the identified command magnetic flux vector;
A generator control method comprising:

  According to the eighth to tenth aspects, the same effect as that of the first aspect can be obtained.

  The technology related to the motor control device can be applied to the generator control device. The technology related to the generator control device can be applied to the motor control device. This is because the control mode is very similar in both cases. There is a difference between the motor and the generator such that the phase of the current flowing through the motor / generator is reversed, but those skilled in the art can configure both control devices in consideration of these differences.

  The technology related to the motor control device and the generator control device can be applied to the motor control method and the generator control method. The technology related to the motor control method and the generator control method can be applied to the motor control device and the generator control device.

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

(First embodiment)
As shown in FIG. 1, the motor control apparatus 100 includes a first current sensor 105a, a second current sensor 105b, a motor control unit 103, and a duty generation unit 104. Motor control device 100 is connected to inverter 101 and three-phase motor 102.

  The motor control unit 103 is configured to execute position sensorless operation of the three-phase motor 102. The position sensorless operation is an operation that does not use a position sensor such as an encoder or a resolver. The motor magnetic flux is a concept including both the armature linkage magnetic flux on the three-phase AC coordinates applied to the three-phase motor 102 and the magnetic flux obtained by coordinate conversion of the armature linkage flux. In this specification, “amplitude” may simply refer to magnitude (absolute value). Further, unless otherwise specified, “speed” represents the angular speed (unit: rad / s) of the rotor of the three-phase motor 102.

  The motor control device 100 may include elements provided by a control application executed in a DSP (Digital Signal Processor) or a microcomputer. The DSP or microcomputer may include peripheral devices such as a core, a memory, an A / D conversion circuit, and a communication port. Further, the motor control device 100 may include an element configured by a logic circuit.

(Outline of control using the motor control device 100)
An overview of control using the motor control device 100 will be described with reference to FIG. The phase sensors (motor currents) i _u and i _w are detected by the current sensors 105a and 105b. The motor control unit 103 generates command voltage vectors v _u ^* , v _v ^* , v _w ^* from the command speed ω _ref ^* and the phase currents i _u , i _w . Each component of the command voltage vectors v _u ^* , v _v ^* , v _w ^* corresponds to a U-phase voltage, a V-phase voltage, and a W-phase voltage on a three-phase AC coordinate, respectively. The duty generation unit 104, the command voltage vector _{v u} ^*, v v ^*, the v _w ^*, the duty D _u, D _v, D _w is generated. The inverter 101 generates voltage vectors v _u , v _v , v _w to be applied to the three-phase motor 102 from the duties D _u , D _v , D _w . The command speed ω _ref ^* is given to the motor control device 100 from the host control device. The command speed ω _ref ^* represents the speed that the speed of the three-phase motor 102 should follow. With such control, the three-phase motor 102 is controlled such that the speed follows the command speed ω _ref ^* .

  Hereinafter, the motor control device 100 may be described based on α-β coordinates (two-phase coordinates). FIG. 2 shows α-β coordinates, UVW coordinates, and dq coordinates. The α-β coordinates are fixed coordinates. The α-β coordinates are also referred to as stationary coordinates and AC coordinates. The α axis is set as an axis extending in the same direction as the U axis. The d axis is defined as an axis that coincides with the rotor of the rotor, and its position is defined by θ. A position advanced 90 degrees from the d axis is defined as the q axis.

(Motor controller 103)
As shown in FIG. 3, the motor control unit 103 includes a u, w / α, β conversion unit (three-phase two-phase coordinate conversion unit) 106, a voltage command calculation unit 107, a motor magnetic flux estimation unit 108, a phase identification unit 111, An amplitude specifying unit 115, a command magnetic flux specifying unit 112, an α-axis magnetic flux deviation calculating unit 113a, a β-axis magnetic flux deviation calculating unit 113b, and an α, β / u, v, w converting unit (two-phase three-phase coordinate converting unit) 109 are included. It is out.

In the motor control unit 103, the u, w / α, β conversion unit 106 converts the phase currents i _u , i _w into shaft currents i _α , i _β . The axial currents i _α and i _β are collectively described as the α-axis current i _α and the β-axis current i _β on the α-β coordinate of the three-phase motor 102. The motor magnetic flux estimator 108 estimates the motor magnetic flux from the shaft currents i _α and i _β and the shaft voltages (command shaft voltages) v _α ^* and v _β ^* (estimated magnetic flux Ψ _s is obtained). The α-axis component and β-axis component of the estimated magnetic flux ψ _s are described as estimated magnetic fluxes ψ _α and ψ _β , respectively. The phase identification unit 111 identifies the phase θ _s ^{* of the} command magnetic flux vector Ψ _s ^* from the command speed ω _ref ^* . The amplitude specifying unit 115 generates the amplitude | Ψ _s ^* | (command amplitude | Ψ _s ^* |) of the command magnetic flux vector Ψ _s ^* . The command magnetic flux specifying unit 112 obtains the command magnetic flux vector ψ _s ^* from the amplitude | ψ _s ^* | and the phase θ _s ^* . The α-axis component and β-axis component of the command magnetic flux vector ψ _s ^* are described as α-axis command magnetic flux ψ _α ^* and β-axis command magnetic flux ψ _β ^* , respectively. the alpha-axis magnetic flux deviation calculation unit 113a, alpha axis command flux [psi _alpha ^* and the estimated flux [psi _alpha and deviation (the magnetic flux deviation) [Delta] [Psi] _alpha is obtained. the beta-axis magnetic flux deviation calculation unit 113b, beta axis command flux [psi _beta ^* and the estimated flux [psi _beta and deviation (the magnetic flux deviation) [Delta] [Psi] _beta is obtained. The voltage command calculation unit 107 calculates the shaft voltages v _α ^* and v _β ^* from the magnetic flux deviations ΔΨ _α and ΔΨ _β and the shaft currents i _α and i _β . The axial voltages v _α ^* and v _β ^* collectively describe the α-axis command voltage v _α ^* and the β-axis command voltage v _β ^* on the α-β coordinate of the three-phase motor 102. The α, β / u, v, w conversion unit 109 converts the shaft voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* .

By such control, the voltage vector is supplied to the three-phase motor 102 via the inverter 101 so that the speed of the three-phase motor 102 follows the command speed ω _ref ^* and the motor magnetic flux follows the command magnetic flux vector Ψ _s ^*. Applied.

In the present specification, the shaft currents i _α and i _β mean current values transmitted as information, not currents actually flowing through the three-phase motor 102. The same applies to the shaft voltages v _α ^* , v _β ^* , the estimated magnetic flux ψ _s , the command speed ω _ref ^* , the command magnetic flux vector ψ _s ^* , the command voltage vectors v _u ^* , v _v ^* , v _w ^{*, and the} like.

  Each component regarding control of this embodiment is explained below.

(First current sensor 105a, second current sensor 105b)
As the first current sensor 105a and the second current sensor 105b shown in FIG. 1, known current sensors can be used. In the present embodiment, the first current sensor 105a is provided to measure the phase current i _u flowing through the u phase. The second current sensor 105b is provided to measure the phase current i _w flowing through the w phase. However, the first current sensor 105a and the second current sensor 105b may be provided so as to measure a two-phase current of a combination other than the u-phase and w-phase two phases.

(U, w / α, β converter 106)
The u, w / α, β converter 106 shown in FIG. 3 converts the phase currents i _u , i _w into axial currents i _α , i _β . Specifically, the u, w / α, β conversion unit 106 converts the phase currents i _u , i _w into the axial currents i _α , i _β by the equations (1) and (2), and the axial current i _α. , I _β .

(Motor magnetic flux estimation unit 108)
The motor magnetic flux estimation unit 108 obtains an estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ) from the axial currents i _α and i _β and the axial voltages v _α ^* and v _β ^* . Specifically, the motor magnetic flux estimation unit 108 obtains the estimated magnetic fluxes Ψ _α and Ψ _β using the equations (3) and (4). In equations (3) and (4), ψ _{α | t = 0} and ψ _{β | t = 0} are initial values of the estimated magnetic fluxes ψ _α and ψ _β , respectively. R in equations (3) and (4) is the winding resistance of the three-phase motor 102. When the motor magnetic flux estimator 108 is incorporated in a digital control device such as a DSP or a microcomputer, the integrator required for the calculations in the equations (3) and (4) can be configured as a discrete system. In a typical example in this case, a value derived from the current control cycle is added to or subtracted from the estimated magnetic fluxes ψ _α and ψ _β before one control cycle (one time step).

(Phase identification unit 111)
The phase specifying unit 111 specifies the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* from the command speed ω _ref ^* . Specifically, as shown in FIG. 4, the phase identification unit 111 has an integrator 114, obtains the command flux vector [psi _s ^* phase theta _s ^* by integrating the command speed omega _ref ^*. In the present embodiment, the phase specifying unit 111 is incorporated in a digital control device, and the integrator 114 is configured as a discrete system. Therefore, the phase specifying unit 111 of the present embodiment uses the command speed ω _ref ^* input to the phase specifying unit 111 to specify and specify the amount of movement for each control period in which the phase θ of the motor magnetic flux Ψ _s should move. It said to identify the command flux vector [psi _s ^* phase theta _s ^* using the movement amount that has been. Specifically, it can be said that the phase specifying unit 111 specifies the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* by integrating the movement amount. Examples of the digital control device include a DSP and a microcomputer.

(Amplitude specifying unit 115)
The amplitude specifying unit 115 specifies the amplitude | Ψ _s ^* | of the command magnetic flux vector Ψ _s ^* . Specifically, as shown in Expression (5), the amplitude specifying unit 115 adds an arbitrary magnetic flux ΔΨ to the magnetic flux parameter Ψ _a to obtain the amplitude | Ψ _s ^* |. The magnetic flux parameter Ψ _a is a constant (motor parameter) given as the amplitude of the magnetic flux generated by the permanent magnet in the three-phase motor 102. The magnetic flux ΔΨ is a positive value, a negative value, or zero. The magnetic flux ΔΨ may be a constant or a variable.

Normally, the motor control unit 103 is configured according to the purpose of control. The amplitude | ψ _s ^* | of the command magnetic flux vector ψ _s ^* has an optimum value according to the purpose of control. Therefore, it is desirable that the magnetic flux ΔΨ be set so that the amplitude | Ψ _s ^* | becomes a value near the optimum value.

An example of the idea for specifying the amplitude | Ψ _s ^* | will be described below. In the conventional motor control unit 903 (FIG. 18), maximum torque / current control (MTPA) that can generate the maximum torque with the minimum current may be performed. The amplitude | Ψ _s ^* | generated in the amplitude specifying unit 961 when MTPA is executed is set based on the following concept. When a motor having no magnetic saliency is used as the three-phase motor, the motor magnetic flux amplitude | ψ _s | and the motor torque T are approximated by equations (6A) and (6B). | Ψ _a | is a magnetic flux parameter. L is the inductance per phase of the armature winding of the three-phase motor. i _q is a q-axis current. P _n is the number of pole pairs of the motor. From equations (6A) and (6B), equation (6C) is derived. A relational expression between the command torque T _e ^* and the amplitude | Ψ _s ^* | is derived by substituting T for the command torque T _e ^* in FIG. 18 and | Ψ _s | with the amplitude | Ψ _s ^* |. Using this relational expression, the amplitude | Ψ _s ^* | can be obtained from the command torque T _e ^* . Of course, a conversion table can also be created. When a motor having magnetic saliency is used as the three-phase motor, the motor magnetic flux amplitude | ψ _s | and the motor torque T are approximated by equations (6D) and (6E). L _d is the d-axis inductance. L _q is a q-axis inductance. i _d is a d-axis current. The d-axis current i _d and the q-axis current i _q generally satisfy the relationship of Expression (6F). Expressions (6D), (6E), and (6F) provide a conversion table that can specify the motor magnetic flux amplitude | Ψ _s | from the motor torque T without using the variables i _d and i _q . By substituting T for the command torque T _e ^* in FIG. 18 and | Ψ _s | for the amplitude | Ψ _s ^* |, the amplitude | Ψ _s ^* | can be specified from the command torque T _e ^* . In the present embodiment, the amplitude specifying unit 115 does not use the command torque _Te ^* . Therefore, it is impossible to perform the MTPA by feedback control using the command torque T _e ^*. However, although not strictly MTPA, it is possible to operate the three-phase motor 102 efficiently by performing control according to MTPA. For example, the operation point may be known such that the motor torque is uniquely determined with respect to the speed of the three-phase motor 102. Although details are omitted, in such a case, the relationship between the speed of the three-phase motor 102 and the amplitude | Ψ _s ^* | for realizing the MTPA is generally known. For this reason, as the amplitude specifying unit 115, an approximate expression or a lookup table that specifies the amplitude | Ψ _s ^* | from the command speed ω _ref ^* can be used. It is also possible to grasp the relationship between the speed of the three-phase motor 102 and the motor torque through prior measurement or the like. In this way, a similar approximate expression or lookup table can be provided. Further, when the operating point is known as described above, the three-phase motor 102 can be operated with high efficiency to some extent even if the amplitude | Ψ _s ^* | is a constant. Regarding MTPA, publicly known documents such as “Yoji Takeda, Shigeo Morimoto, Nobuyuki Matsui, Yukio Honda,“ Design and Control of Embedded Magnet Synchronous Motor ”, Ohm Co., Ltd., issued on October 25, 2001, etc. Helpful.

Another example of the idea for specifying the amplitude | Ψ _s ^* | will be described below. There is an upper limit to the voltage that the inverter can output. For this reason, there is a case where the motor control unit should be operated so that the voltage output from the inverter is controlled within a predetermined value or less. In this case, the amplitude specifying unit can be configured to determine the amplitude | Ψ _s ^* | using Equation (7). That is, the amplitude specifying unit can specify the amplitude | Ψ _s ^* | for field weakening control. Note that V _om in the equation (7) is an upper limit value of the voltage (voltage vector amplitude) applied to the three-phase motor 102 in the field-weakening control. ω is the speed of the rotor of the three-phase motor 102 (d-axis electrical angular speed). In the present embodiment, the amplitude specifying unit 115 does not use the rotor speed ω of the three-phase motor 102. Therefore, field weakening control by feedback control using the speed ω cannot be performed. However, field weakening control by feedforward control can be performed using the command speed ω _ref ^* in place of the speed ω in equation (7). When performing such a feed-forward control, as the amplitude determination unit 115, a command velocity omega _ref ^* amplitude | identify | or using an operator for obtaining a command speed omega _ref ^* from the amplitude | | Ψ _s ^* Ψ _s ^* Or a lookup table can be used.

(Command magnetic flux specifying unit 112)
The command magnetic flux specifying unit 112 obtains a command magnetic flux vector ψ _s ^* (command magnetic flux ψ _α ^* , ψ _β ^* ) from the amplitude | ψ _s ^* | and the phase θ _s ^* . Specifically, the command magnetic fluxes Ψ _α ^* and Ψ _β ^* are obtained using the equations (8) and (9).

(Α-axis magnetic flux deviation calculator 113a, β-axis magnetic flux deviation calculator 113b)
alpha -axis magnetic flux deviation calculation unit 113a obtains the command flux [psi _alpha ^* and the estimated flux [psi _alpha, these deviations (the magnetic flux deviation ^{_{ΔΨ α: Ψ α * -Ψ α}} ) obtained. The β-axis magnetic flux deviation calculation unit 113b acquires the command magnetic flux Ψ _β ^* and the estimated magnetic flux Ψ _β and obtains the deviation (magnetic flux deviation ΔΨ _β : Ψ _β ^* −Ψ _β ). As the magnetic flux deviation calculators 113a and 113b, known operators can be used.

(Voltage command calculation unit 107)
The voltage command calculation unit 107 obtains the axial voltages v _α ^* and v _β ^* from the magnetic flux deviations ΔΨ _α and ΔΨ _β and the axial currents i _α and i _β . Specifically, the voltage command calculation unit 107 obtains the α-axis command voltage v _α ^* using Equation (10). Moreover, the voltage command calculating part 107 calculates | requires (beta) axis command voltage v ( _beta) ^* using Formula (11).

(Α, β / u, v, w converter 109)
The α, β / u, v, w conversion unit 109 converts the shaft voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* . Specifically, the α, β / u, v, w conversion unit 109 converts the shaft voltages v _α ^* , v _β ^* into the command voltage vectors v _u ^* , v _v ^* , v _w ^{* according} to the equation (12). Then, the command voltage vectors v _u ^* , v _v ^* , v _w ^* are output.

(Duty generator 104)
Duty generation unit 104 shown in FIG. 1, the command voltage vector _{^{v u *, v v *,}} v from _w ^*, the duty D _u, D _v, to produce a D _w. In the present embodiment, the duty generation unit 104 converts each component of the command voltage vectors v _u ^* , v _v ^* , v _w ^* into the duties _Du , D _v , D _w of each phase. As a method for generating the duties D _u , D _v and D _w, a method used for a general voltage source inverter can be used. For example, the duties D _u , D _v , and D _w are obtained by dividing the command voltage vectors v _u ^* , v _v ^* , and v _w ^* by half the voltage value V _dc of the DC power supply 118 (FIG. 5). You may ask for it. In this case, the duty _Du is 2 ^* _vu ^* / _Vdc . The duty D _v is 2 × v _v ^* / V _dc . The duty D _w is 2 × v _w ^* / V _dc . Duty generation unit 104, duty D _u, D _v, and outputs the D _w.

(Inverter 101)
In the present embodiment, the inverter 101 is a PWM inverter. As shown in FIG. 5, the inverter 101 includes a conversion circuit, a base driver 116, a pair of switching elements 119 a, 119 b, 119 c, 119 d, 119 e, 119 f and freewheeling diodes 120 a, 120 b, 120 c, 120 d, 120 e, 120 f. A smoothing capacitor 117 and a DC power supply 118 are included. The DC power supply 118 represents an output rectified by a diode bridge or the like. In the present specification, a configuration in which the conversion circuit and the smoothing capacitor 117 are combined is described as an inverter.

The inverter 101 applies a voltage vector to the three-phase motor 102 by PWM control. Specifically, power is supplied to the three-phase motor 102 from the DC power supply 118 via the switching elements 119a to 119f. More specifically, first, the duty D _u, D _v, D _w is input to the base driver 116. Then, the duty D _u, D _v, D _w is converted into a drive signal for electrically driving the switching elements 119A～119f. Next, each of the switching elements 119a to 119f operates according to the drive signal.

  In the present embodiment, the inverter 101 is a three-phase switching circuit using switching elements 119a to 119f. Examples of the switching elements 119a to 119f include a MOSFET (Metal Oxide Semiconductor Field Effect Transistor) and an IGBT (Insulated Gate Bipolar Transistor).

(Three-phase motor 102)
A three-phase motor 102 illustrated in FIG. 1 is a control target of the motor control device 100. A voltage vector is applied to the three-phase motor 102 by the inverter 101. “A voltage vector is applied to the three-phase motor 102” means that a voltage is applied to each of the three phases (U phase, V phase, W phase) on the three-phase AC coordinate in the three-phase motor 102. . In the present embodiment, each of the three phases (U phase, V phase, W phase) is selected from two types: a high voltage phase having a relatively high voltage and a low voltage phase having a relatively low voltage. The three-phase motor 102 is controlled so as to be one of the following.

The three-phase motor 102 in this embodiment is a synchronous motor. Specifically, the three-phase motor 102 in the present embodiment is a permanent magnet synchronous motor. The three-phase motor 102 may be an SPMSM (Surface Permanent Magnet Synchronous Motor) or an IPMSM (Interior Permanent Magnet Synchronous Motor). In SPMSM, the d-axis inductance L _d and the q-axis inductance L _q are the same. The IPMSM has a saliency in which the d-axis inductance L _d and the q-axis inductance L _q are different (generally, a reverse saliency such that L _q > L _d ). IPMSM can use reluctance torque in addition to magnet torque. For this reason, the driving efficiency of the IPMSM is extremely high.

  The motor control apparatus 100 according to the present embodiment does not require a speed control unit (speed control unit 964 in FIG. 18). Therefore, it is possible to avoid the complexity of the design derived from the speed control unit. Further, it is possible to avoid a decrease in control performance due to the presence of the speed control unit.

In the present embodiment, the phase specifying unit 111 can easily specify the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* . In the present embodiment, the phase specifying unit 111 specifies the phase θ _s ^* by feedforward control using the command speed ω _ref ^* . According to the feed forward control, the calculation load is reduced as compared with the feedback control.

(Modification 1-1)
Hereinafter, the motor control device of Modification 1-1 will be described. In the modified example 1-1, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof may be omitted.

  As shown in FIG. 6, the motor control unit 203 of Modification 1-1 includes a phase specifying unit 211 instead of the phase specifying unit 111. Further, the motor control unit 203 has a torque estimation unit 216.

In the motor control unit 203, the torque estimation unit 216 estimates the torque from the estimated magnetic fluxes ψ _α and ψ _β and the shaft currents i _α and i _β (the estimated torque _Te is obtained). By the phase identification unit 211, a command velocity omega _ref ^* and the estimated torque T _e, the command flux vector [psi _s ^* phase theta _s ^* is identified.

(Torque estimation unit 216)
As shown in FIG. 7, torque estimation unit 216, using Equation (13) determines the estimated torque T _e. P _n in equation (13) is the _number of pole pairs of the three-phase motor 102.

(Phase identifying unit 211)
Phase identification unit 211, the command velocity omega _ref ^* and the estimated torque T _e, identifies the command flux vector [psi _s ^* phase theta _s ^*. As illustrated in FIG. 8, the phase specifying unit 211 includes a high-pass filter 261, a gain multiplication unit 262, a speed deviation calculation unit 223, and a speed deviation integrator 214. The phase specifying unit 211 is configured by a discrete system.

(High pass filter 261)
High pass filter 261 is vibrated components of the estimated torque T _e identify only (torque vibration component) T _H (extraction).

(Gain multiplier 262)
Gain multiplication section 262 identifies the speed vibration component K ₁ T _H is multiplied by a gain K ₁ to the torque vibration component T _H.

  The operations of the high-pass filter 261 and the gain multiplication unit 262 are expressed by Expression (14). g is a cut-off frequency, and its unit is [rad / s]. s is a Laplace operator.

(Speed deviation calculation unit 223)
Speed error calculator 223 calculates the speed deviation ω _ref ^* -K ₁ T _H command speed omega _ref ^* and speed vibration component K ₁ T _H. ω _ref ^* -K ₁ T _H can be considered to be corrected command speed.

(Speed deviation integrator 214)
Speed deviation integrator 214 integrates the speed deviation ω _ref ^* -K ₁ T _H. This gives a command flux vector [psi _s ^* phase theta _s ^*. The speed deviation integrator 214 of the modified example 1-1 is configured by a discrete system. Therefore, the speed deviation integrator 214 identifies the amount of movement of each control cycle to the phase θ of the motor flux [psi _s moves with the speed deviation (corrected command ^{_{speed) ω ref * -K 1 T H}} , It can be said that the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* is specified by using the specified movement amount (specifically, integration).

  The operations of the speed deviation calculator 223 and the speed deviation integrator 214 are expressed by Expression (15).

In Modification 1-1, the torque estimation portion 216 calculates the estimated motor flux (estimated magnetic flux [psi _s), axis current i _alpha, and i _beta, (estimated torque T _e for estimating the motor torque using a ). Phase identification unit 211, high-pass filter 261, the estimated torque T _e, the vibration component of the motor torque estimate (torque vibration component) T _H (specific) to. Phase identification unit 211 uses the estimated torque vibration component T _H corrects the command speed omega _ref ^*, and identifies a moving amount using the corrected command speed ω _ref ^* -K ₁ T _H, it is identified movement amount using (specifically, integrated with) has identified the command flux vector [psi _s ^* phase theta _s ^*. According to the modified example 1-1, it is possible to prevent the speed of the three-phase motor 102 from deviating from the command speed ω _ref ^* . Therefore, when the motor control unit 203 is used, the three-phase motor 102 can be driven more stably than when the motor control unit 103 is used.

Note that the same effect as that of Modification 1-1 can be obtained even if the phase specifying unit 211 is slightly changed. For example, a sign inversion unit that multiplies the torque vibration component T _H by −1 may be provided between the high-pass filter 261 and the gain multiplication unit 262, and the speed deviation calculation unit 223 may be replaced with an addition unit. Such changes and are even used are multiplied by -1 to the vibration component in place of the torque vibration component T _H (-T _H), the same effect can be obtained.

(Modification 1-2A)
Hereinafter, the motor control device of Modification 1-2A will be described. Note that in the modified example 1-2A, the same parts as those in the modified example 1-1 are denoted by the same reference numerals, and description thereof may be omitted.

  As illustrated in FIG. 9A, the motor control unit 303a of the modification 1-2A includes an amplitude specifying unit 315a instead of the amplitude specifying unit 115.

(Amplitude specifying unit 315a)
The amplitude specifying unit 315a generates a corrected amplitude | Ψ _s ^** | as an amplitude to be given to the command magnetic flux specifying unit 112 from the axial currents i _α and i _β and the estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ). Identify. The amplitude specifying unit 315a includes a temporary setting unit 330, an amplitude correction amount generating unit 317a, and an adding unit 331.

(Temporary setting unit 330)
The provisional setting unit 330 sets (specifies) a provisional amplitude | Ψ _s ^* | of the command magnetic flux vector Ψ _s ^* . In the present embodiment, the temporary setting unit 330 stores the temporary amplitude | Ψ _s ^* | in advance. The provisional amplitude | Ψ _s ^* | corresponds to the amplitude | Ψ _s ^* | specified by the amplitude specifying unit 115 described in the previous embodiment. In the present embodiment, the provisional amplitude | Ψ _s ^* | is associated with the command speed ω _ref ^{* in} advance, following the example of control according to the above-described MTPA. However, in Modification 1-2A, since the amplitude correction amount generation unit 317a is used, MTPA can be realized with high accuracy even if the provisional amplitude | Ψ _s ^* | is a constant. For example, the provisional amplitude | Ψ _s ^* | can be used as the magnetic flux parameter Ψ _a .

(Amplitude correction amount generation unit 317a)
The amplitude correction amount generation unit 317a specifies the amplitude correction amount ΔΨ from the axial currents i _α and i _β and the estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ). As illustrated in FIG. 10A, the amplitude correction amount generation unit 317a includes an error parameter calculation unit 321a, an error parameter deviation calculation unit 322, and a PI compensation unit 323.

The amplitude correction amount generation unit 317a performs the same operation regardless of whether the d-axis inductance L _d and the q-axis inductance L _q are different from each other. Specifically, when there is an inductance difference, a value between the d-axis inductance and the q-axis inductance can be used as the inductance L. Further, if the magnetic saliency is not large, there is no harm in handling the L = L _d. That is, as the inductance value, a d-axis inductance value, a value larger than the d-axis inductance and smaller than the q-axis inductance, or a value smaller than the d-axis inductance and larger than the q-axis inductance can be used.

Patent Document 1 is helpful in setting the inductance L as described above. Patent Document 1 describes a technique related to a dm-qm coordinate system. The dm-qm coordinate system makes it possible to treat a motor having magnetic saliency such as a permanent magnet synchronous motor having an embedded magnet structure in the same manner as a permanent magnet synchronous motor having no magnetic saliency. Maximum torque control (maximum torque / current control) can be performed by using the dm-qm coordinate system and setting the dm-axis current (γ-axis current in the control coordinate system) to zero. If 3-phase motor 102 has a magnetic saliency, the d-axis current to the dm-axis current, in a magnet flux [psi _a extended flux linkage vector [Phi _exm, the inductance L to the virtual inductance L _m, can be replaced, respectively . For details of the dm-axis current, the extended flux linkage vector Φ _exm and the virtual inductance L _m , refer to Patent Document 1 (Formula 36 and paragraphs 0182 to 0183). Note that L _m satisfies L _d ≦ L _m <L _q . When there is no inductance difference, the dm-qm coordinate system and the general dq coordinate system coincide with each other, and Lm = Ld = Lq may be set. That is, the idea about the case where there is an inductance difference includes the idea about the case where there is no inductance difference.

(Error parameter calculator 321a)
Error parameter calculation unit 321a includes virtual inductance (inductance of the three-phase motor 102) L _m and the axial current i _alpha, i _beta and estimated flux [psi _s (estimated magnetic flux Ψ _α, Ψ _β) from a, calculates an error parameter ε . Specifically, first, estimate the armature reaction magnetic flux (obtain the estimated armature reaction flux L _m i _a). The alpha-axis component and beta-axis component of the estimated armature reaction flux L _m i _a, respectively estimated armature reaction flux L _m i _α, referred to as estimated armature reaction flux L _m i _β. The estimated armature reaction magnetic flux L _m i _α and the estimated armature reaction magnetic flux L _m i _β are the products of the virtual inductance L _m and the axial currents i _α and i _β . Next, the magnet magnetic flux is estimated from the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and the estimated armature reaction magnetic flux L _m i _a (estimated armature reaction magnetic flux L _m i _α , L _m i _β ) ( Estimate magnetic flux Ψ ' _ae ). The α-axis component and β-axis component of the estimated magnet magnetic flux Ψ ′ _ae are described as estimated magnet magnetic flux Ψ ′ _aeα and Ψ ′ _aeβ , respectively. Specifically, as shown in equations (16) and (17), the estimated magnet flux Ψ ′ _{aeα is} obtained by subtracting the estimated armature reaction fluxes L _m i _α and L _m i _β from the estimated fluxes Ψ _α and Ψ _β. , Ψ ′ _aeβ . Next, an error parameter ε is calculated from the estimated magnet magnetic fluxes ψ ′ _aeα , ψ ′ _aeβ and the axial currents i _α , i _β as shown in Expression (18).

(Error parameter deviation calculation unit 322)
The error parameter deviation calculation unit 322 acquires the command error parameter ε ^* and the error parameter ε, and obtains the deviation (error parameter deviation Δε: ε ^* −ε). As the error parameter deviation calculation unit 322, a known operator can be used. The command error parameter ε ^* can be an arbitrary value. In Modification 1-2A, the amplitude correction amount generation unit 317a is configured for MTPA. In order to establish MTPA, it is necessary to make the estimated magnetic flux Ψ ′ _ae and the axial currents i _α and i _β orthogonal to each other. Therefore, in Modification 1-2A, the command error parameter ε ^* is set to zero in order to make the inner product of the estimated magnet magnetic flux Ψ ′ _ae and the axial currents i _α and i _β zero.

(PI compensation unit 323)
The PI compensation unit 323 acquires the error parameter deviation Δε, and specifies the amplitude correction amount ΔΨ so that it becomes zero. Specifically, as shown in the equation (19), the amplitude correction amount ΔΨ is obtained by performing a proportional / integral calculation using the error parameter deviation Δε as an input. As described above, in the modified example 1-2A, the error parameter deviation calculating unit 322 generates the error parameter deviation Δε for MTPA. Accordingly, the PI compensation unit 323 generates an amplitude correction amount ΔΨ suitable for MTPA.

(Adder 331)
The adder 331 identifies the corrected amplitude | Ψ _s ^** | from the temporary amplitude | Ψ _s ^* | and the amplitude correction amount ΔΨ. The corrected amplitude | Ψ _s ^** | is the sum of the temporary amplitude | Ψ _s ^* | and the amplitude correction amount ΔΨ.

The corrected amplitude | Ψ _s ^** | specified by the adding unit 331 (amplitude specifying unit 315a) is used by the command magnetic flux specifying unit 112. The command magnetic flux specifying unit 112 uses the corrected amplitude | Ψ _s ^** | in place of the amplitude | Ψ _s ^* | described in the previous embodiment, and uses the command magnetic flux vector Ψ _s ^* (command magnetic flux Ψ _α ^* , Ψ _β ^* ) Is specified.

In Modification 1-2A, the amplitude specifying unit 315a includes a temporary setting unit 330 that specifies the temporary amplitude | ψ _s ^* | of the command magnetic flux vector ψ _s ^* . In addition, the amplitude specifying unit 315a _calculates an inner product (second inner product) of the estimated magnetic flux (estimated magnet magnetic flux ψ ′ _aeα , ψ ′ _aeβ ) of the permanent magnet of the three-phase motor 102 and the axial currents i _α , i _β. By executing the feedback control used, the correction unit a (amplitude correction amount) that corrects the temporary amplitude | Ψ _s ^* | and specifies the correction amplitude | Ψ _s ^** | as the amplitude to be given to the command magnetic flux specifying unit 112. A generation unit 317a and an addition unit 331). Specifically, in the modified example 1-2A, the provisional amplitude | Ψ _s ^* | is set for the MTPA, and the provisional amplitude | Ψ _s ^* | is corrected by the amplitude correction amount ΔΨ adapted to the MTPA. A corrected amplitude | Ψ _s ^** | is generated. Therefore, according to Modification 1-2A, MTPA can be performed with high accuracy. That is, if the motor control unit 303a of the modified example 1-2A is used, the three-phase motor 102 can be driven more efficiently than when the motor control unit 203 is used.

In Modification 1-2A, the case where the amplitude specifying unit 315a is configured for MTPA has been described. However, the amplitude specifying unit 315a can be configured for other control such as field weakening control. The amplitude correction amount generation unit 317a _obtains a physical quantity correlated with the reactive power of the three-phase motor 102 from the estimated magnet magnetic fluxes Ψ ′ _aeα and Ψ ′ _aeβ and the shaft currents i _α and i _β , and _sets the physical quantity to a desired value. It is only necessary to have a configuration capable of generating an amplitude correction amount ΔΨ for control. In the modified example 1-2A, the physical quantity correlated with the reactive power is the inner product of the estimated magnet magnetic fluxes Ψ ′ _aeα and Ψ ′ _aeβ and the axial currents i _α and i _β .

(Modification 1-2B)
Hereinafter, the motor control device of Modification 1-2B will be described. Note that in the modified example 1-2B, the same parts as those in the modified example 1-2A are denoted by the same reference numerals, and description thereof may be omitted.

  As illustrated in FIG. 9B, the motor control unit 303b of the modified example 1-2B includes an amplitude specifying unit 315b instead of the amplitude specifying unit 315a. The amplitude specifying unit 315b includes an amplitude correction amount generation unit 317b instead of the amplitude correction amount generation unit 317a.

(Amplitude correction amount generation unit 317b)
As illustrated in FIG. 10B, the amplitude correction amount generation unit 317b includes an error parameter calculation unit 321b, an error parameter deviation calculation unit 322, and a PI compensation unit 323.

(Error parameter calculation unit 321b)
The error parameter calculator 321b calculates an error parameter ε from the virtual inductance L _m (inductance of the three-phase motor 102), the axial currents i _α , i _β and the estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ). . Specifically, the inner product Ψ _α i _α + Ψ _β i _β of the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and the axial currents i _α , i _β is specified. A product L _m (i _α ² + i _β ² ) of the virtual inductance and the square of the amplitude of the current is specified from the virtual inductance L _m and the axial currents i _α and i _β . The product L _m (i _α ² + i _β ² ) is subtracted from the inner product Ψ _α i _α + Ψ _β i _β to determine the difference Ψ _α i _α + Ψ _β i _β −L _m (i _α ² + i _β ² ), and the error parameter Get ε. The calculation performed by the error parameter calculation unit 321b is expressed by Expression (20).

In Modification 1-2B, the amplitude specifying unit 315b includes a temporary setting unit 330 that specifies the temporary amplitude | Ψ _s ^* | of the command magnetic flux vector Ψ _s ^* . In addition, the amplitude specifying unit 315b performs feedback using the inner product (first inner product) Ψ _α i _α + Ψ _β i _β of the estimated motor magnetic flux (estimated magnetic flux Ψ _α , Ψ _β ) and the axial currents i _α , i _β. By executing the control, the correction unit b (amplitude correction amount generation unit 317b) that corrects the temporary amplitude | Ψ _s ^* | and specifies the correction amplitude | Ψ _s ^** | as the amplitude to be given to the command magnetic flux specifying unit 112. And an adder 331). The amplitude correction amount generation unit 317b of Modification 1-2B uses an expression different from the expression used in the amplitude correction amount generation section 317a of Modification 1-2A, but the same amplitude correction amount as in Modification 1-2A Specify ΔΨ. Therefore, if the motor control unit 303b of the modified example 1-2B is used, the same effect as when the motor control unit 303a is used can be obtained.

In Modification 1-2B, the case where the amplitude specifying unit 315b is configured for MTPA has been described. However, the amplitude specifying unit 315b can be configured for other control such as field weakening control. The amplitude correction amount generation unit 317b obtains a physical quantity correlated with the reactive power of the three-phase motor 102 from the estimated magnetic fluxes Ψ _α , Ψ _β and the axial currents i _α , i _β , and controls the physical quantity to a desired value. It is only necessary to have a configuration capable of generating the amplitude correction amount ΔΨ of. In the modified example 1-2B, as the physical quantity correlated with the reactive power, the inner product Ψ _α i _α + Ψ _β i _β of the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and the axial currents i _α , i _β is used. Seeking.

Further, the amplitude correction amount generation unit may have a configuration capable of obtaining the reactive power of the three-phase motor 102 and generating the amplitude correction amount ΔΨ for controlling the reactive power to a desired value. In this case, the reactive power can be obtained by multiplying the inner product Ψ _α i _α + Ψ _β i _β by the command speed ω _ref ^* . The reactive power can be obtained by differentiating the phase of the estimated magnetic flux Ψ _s to estimate the speed of the three-phase motor 102 and multiplying the speed by the inner product Ψ _α i _α + Ψ _β i _β . The reactive power can also be obtained from the shaft currents i _α and i _β and the shaft voltages v _α ^* and v _β ^* .

(Modification 1-3)
Hereinafter, a motor control device according to Modification 1-3 of the present invention will be described. Note that in the modified example 1-3, the same parts as those of the modified example 1-2A are denoted by the same reference numerals, and the description thereof may be omitted.

  As illustrated in FIG. 11, the motor control unit 403 of Modification 1-3 includes an amplitude specifying unit 415 instead of the amplitude specifying unit 315a.

(Amplitude specifying unit 415)
The amplitude specifying unit 415 uses the axial currents i _α and i _β and the estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ) as an amplitude to be given to the command magnetic flux specifying unit 112 as compensation amplitude | ψ _s ^*** Specify |. The amplitude identification unit 415 includes a discretization error compensation unit 432 in addition to the temporary setting unit 330, the amplitude correction amount generation unit 317a, and the addition unit 331.

(Discrete error compensation unit 432)
The discretization error compensator 432 identifies the compensation amplitude | Ψ _s ^*** | from the correction amplitude | Ψ _s ^** |. Specifically, the discretization error compensation unit 432 identifies the compensation amplitude | Ψ _s ^*** | using the equation (21) or the equation (22). Expression (22) is an approximate expression of Expression (21). T _s is a control period (sampling period). ω is the speed of the three-phase motor 102.

The role of the equations (21) and (22) will be briefly described. The amplitude | Ψ _s | of the motor magnetic flux Ψ _s actually applied to the three-phase motor 102 does not exactly match the amplitude | Ψ _s ^* | of the command magnetic flux vector Ψ _s ^* . That is, a so-called discretization error occurs. The discretization error becomes apparent when the amount of movement of the three-phase motor 102 in one sampling period T _s is large, such as when driving at high speed. Therefore, in Modification 1-3, control using Expression (21) or (22) is performed to reduce this error. Refer to Non-Patent Document 2 for details of the meaning of the formula (21) or (22). The control based on the formula (21) or the formula (22) may be performed by calculation or may be performed using a table. As the speed ω used in the formula (21) or the formula (22), for example, a command speed ω _ref ^* can be used. It is also possible to differentiate the phase of the estimated magnetic flux Ψ _s to estimate the speed of the three-phase motor 102 and use the estimated speed as the speed ω in the equation (21) or the equation (22). A phase estimation unit 518 described later can be used to specify the phase of the estimated magnetic flux Ψ _s , and a known operator can be used to differentiate the phase.

In the modified example 1-3, the discretization error compensating unit 432 is used in addition to the temporary setting unit 330, the amplitude correction amount generating unit 317a, and the adding unit 331 described in the modified example 1-2A. As understood from the equations (21) and (22), the discretization error compensator 432 has a compensation amplitude smaller than the correction amplitude | Ψ _s ^** | as the amplitude to be given to the command magnetic flux specifying unit 112. Ψ _s ^*** | is specified, and the difference between the correction amplitude | Ψ _s ^** | and the compensation amplitude | ψ _s ^*** | increases as the speed of the three-phase motor 102 increases. Thus, the compensation amplitude | Ψ _s ^*** | is specified. The amplitude specifying unit 415 of Modification 1-3 includes such a discretization error compensation unit 432. Accordingly, the discretization error is reduced.

Note that the amplitude correction amount generation unit 317a and the addition unit 331 may be omitted from the amplitude identification unit 415 in Modification 1-3. In this case, the discretization error compensator 432 identifies the compensation amplitude | Ψ _s ^*** | from the provisional amplitude | Ψ _s ^* |. That is, the corrected amplitude | Ψ _s ^** | in the equations (21) and (22) is changed to the provisional amplitude | Ψ _s ^* |. In this case, the discretization error compensator 432 identifies a compensation amplitude | Ψ _s ^*** | smaller than the provisional amplitude | Ψ _s ^* | as the amplitude to be given to the command magnetic flux identifying section 112. As the speed of the three-phase motor 102 increases, the compensation amplitude | Ψ _s ^*** | so that the difference between the provisional amplitude | Ψ _s ^* | and the compensation amplitude | Ψ _s ^*** | It will be something that identifies.

  Instead of the amplitude correction amount generation unit 317a, an amplitude correction amount generation unit 317b may be used.

(Second Embodiment)
Hereinafter, the motor control device of the second embodiment will be described. Note that in the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof may be omitted.

  As shown in FIG. 12, the motor control unit 503 of the second embodiment includes a phase specifying unit 511 instead of the phase specifying unit 111. Further, the motor control unit 503 has a phase estimation unit 518.

(Phase estimation unit 518)
The phase estimation unit 518 identifies the phase θ _s of the estimated magnetic flux ψ _s from the estimated magnetic flux ψ _s (estimated magnetic flux ψ _α , ψ _β ). Specifically, the phase estimation unit 518 obtains the phase θ _s of the estimated magnetic flux Ψ _s using Equation (23).

(Phase identifying unit 511)
The phase specifying unit 511 obtains the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* from the command speed ω _ref ^* and the estimated magnetic flux phase θ _s . As illustrated in FIG. 13, the phase identification unit 511 includes a multiplication unit 520 and a phase addition calculation unit 542.

(Multiplier 520)
Multiplier 520 identifies movement amount Δθ by multiplying command speed ω _ref ^* by control cycle T _s .

(Phase addition operation unit 542)
The phase addition operation unit 542 adds the movement amount Δθ and the phase θ _s of the estimated magnetic flux ψ _s to obtain the phase θ _s ^* of the command magnetic flux vector ψ _s ^* .

The motor control unit 503 according to the second embodiment represents the shaft currents i _α , i that represent the phase currents (motor currents) i _u , i _w on the three-phase AC coordinates in the three-phase motor 102 by the two-phase coordinates. _A three-phase motor 102 using _β and shaft voltages v _α ^* and v _β ^* representing the voltage vectors v _u , v _v and v _w to be applied to the three-phase motor 102 by two-phase coordinates. Is provided with a motor magnetic flux estimator 108 for estimating a motor magnetic flux applied to the motor (determining an estimated magnetic flux Ψ _s ). The motor control unit 503 includes a phase estimation unit 518 that estimates the phase θ _{s of the} motor magnetic flux using the estimated motor magnetic flux. The phase specifying unit 511 uses the phase θ _s of the motor magnetic flux Ψ _s estimated by the phase estimation unit 518 and the movement amount Δθ (more specifically, the phase θ _s and the movement amount Δθ are added together). ) Specify the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* . According to the motor control unit 503 of the second embodiment, the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* can be easily specified. Further, the motor magnetic flux estimated to specify the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* is used, and axial currents i _α and i _β are used for the estimation. This means that the motor current actually flowing in the three-phase motor 102 is reflected in the specification of the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* . That is, this contributes to appropriately setting the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* , and helps to stabilize the driving of the three-phase motor 102.

(Modification 2-1A)
Hereinafter, the motor control device of Modification 2-1A will be described. Note that in the modification 2-1A, the same reference numerals are given to the same parts as those in the modification 1-1 or the second embodiment, and the description may be omitted.

  As shown in FIG. 14A, the motor control unit 603a of the modified example 2-1A includes a phase specifying unit 611a instead of the phase specifying unit 511 of the second embodiment (FIGS. 12 and 13). In addition, the motor control unit 603a includes the torque estimation unit 216 described in Modification 1-1 (FIGS. 6 to 8).

(Phase identifying unit 611a)
The phase specifying unit 611a specifies the phase θ _s ^* of the command magnetic flux vector ψ _s ^* from the command speed ω _ref ^* , the estimated torque _Te, and the phase θ _s of the estimated magnetic flux ψ _s . As illustrated in FIG. 15A, the phase specifying unit 611a includes a high-pass filter 261, a gain multiplication unit 262, a speed deviation calculation unit 651, a multiplication unit 620, and a phase addition calculation unit 642.

(Speed deviation calculation unit 651)
Speed difference calculating unit 651 calculates a command speed omega _ref ^* and speed vibration component K ₁ T _H speed deviation (corrected command ^{_{speed) ω ref * -K 1 T H}} .

(Multiplier 620)
Multiplication section 620 calculates the movement amount Δθ by multiplying the control period T _S of the speed deviation ω _ref ^* -K ₁ T _H.

(Phase addition operation unit 642)
The phase addition operation unit 642 obtains the phase θ _s ^* of the command magnetic flux vector ψ _s ^* by adding the movement amount Δθ to the phase θ _s of the estimated magnetic flux ψ _s .

Phase identification unit 611a variations 2-1A corrects the command speed omega _ref ^* using the estimated torque fluctuation component T _H, the moving amount using the corrected command speed ω _ref ^* -K ₁ T _H By specifying Δθ and using the specified movement amount Δθ (specifically, adding the phase θ _s of the motor magnetic flux ψ _s estimated by the phase estimation unit 518 and the movement amount Δθ), the command magnetic flux vector Ψ _s ^* of identifying the phase θ _s ^*. According to the modified example 2-1A, both the effect of the modified example 1-1 and the effect of the second embodiment can be obtained.

(Modification 2-1B)
Hereinafter, the motor control device of Modification 2-1B will be described. Note that in the modification 2-1B, the same parts as those in the modification 2-1A are denoted by the same reference numerals, and the description thereof may be omitted.

  As illustrated in FIG. 14B, the motor control unit 603b of Modification 2-1B includes a phase specifying unit 611b instead of the phase specifying unit 611a of Modification 2-1A.

(Phase identifying unit 611b)
Phase identification unit 611b includes a command velocity omega _ref ^*, the estimated torque T _e, and a phase theta _s estimated flux [psi _s, identifies the command flux vector [psi _s ^* phase theta _s ^*. As illustrated in FIG. 15B, the phase specifying unit 611b includes a multiplying unit 660, a high-pass filter 261, a sign inverting unit 662, a PI compensating unit 663, an adding unit 664, and a phase addition calculating unit 642. .

(Multiplier 660)
The multiplication unit 660 obtains the movement amount ω _ref ^* T _S by multiplying the command speed ω _ref ^* by the control period T _S.

(Sign Inversion Unit 662)
Sign inversion unit 662 obtains a vibration component -T _H by multiplying -1 to torque vibration component T _H.

(PI compensation unit 663)
PI compensator 663 obtains a vibration component -T _H, which identifies the amount of correction [Delta] [omega _ref ^* T _S so that zero. Specifically, as shown in equation (24), we obtain a correction amount Δω _ref ^* T _S by performing a proportional-integral calculation as input vibration component -T _H.

(Adder 664)
The adder 664 corrects the movement amount ω _ref ^* T _S using the correction amount Δω _ref ^* T _S. Specifically, the movement amount Δθ is obtained by adding the correction amount Δω _ref ^* T _S to the movement amount ω _ref ^* T _S.

In Modification Example 2-1B, the torque estimation portion 216 calculates the estimated motor flux (estimated magnetic flux [psi _s), axis current i _alpha, and i _beta, (estimated torque T _e for estimating the motor torque using a ). In the phase identification unit 611b, to estimate the vibration component T _H. In the phase specifying unit 611b, the movement amount ω _ref ^* T _S is specified using the command speed ω _ref ^* , and the specified movement amount ω _ref ^* T _S is corrected using the estimated vibration component T _H. Command flux vector Ψ _s ^* using the travel amount Δθ thus obtained (specifically, the phase θ _s of the motor magnetic flux ψ _s estimated by the phase estimation unit 518 and the corrected travel amount Δθ are added together) ^. The phase θ _s ^{* of} is specified.

As understood from FIGS. 15A and 15B, the operation of the phase specifying unit 611a of the modified example 2-1A and the operation of the phase specifying unit 611b of the modified example 2-1B are very similar. The gain multiplication unit 262 multiplies the torque vibration component T _H by the gain K ₁ , the speed deviation calculation unit 651 multiplies −1, and the multiplication unit 620 multiplies the control cycle T _S (FIG. 15A), multiplied by -1 to torque vibration component T _H at the inverting portion 662, the proportional control performed by are calculation results obtained as part of function in the PI compensator 663 (FIG. 15B), it is for the corresponding. However, that perform modification 2-1B the integrals as input vibration component -T _H Control (some functions of the PI compensator 663) is different from the modification 2-1A. Since the phase specifying unit 611b performs integration control, the phase θ _s ^* of the command magnetic flux vector Ψ _s ^* can be specified with higher accuracy than the phase specifying unit 611a. Further, instead of the PI compensation unit 663, a P compensation unit or an I compensation unit may be used.

(Modification 2-1C)
Hereinafter, the motor control device of Modification 2-1C will be described. Note that in the modification 2-1C, the same parts as those in the modification 2-1B are denoted by the same reference numerals, and description thereof may be omitted.

  As illustrated in FIG. 14C, the motor control unit 603c of Modification 2-1C includes a phase specifying unit 611c instead of the phase specifying unit 611b of Modification 2-1B.

(Phase identifying unit 611c)
Phase identification unit 611c includes a command velocity omega _ref ^*, the estimated torque T _e, and a phase theta _s estimated flux [psi _s, identifies the command flux vector [psi _s ^* phase theta _s ^*. As illustrated in FIG. 15C, the phase specifying unit 611c includes a multiplication unit 660, a low-pass filter 671, a subtraction unit 672, a PI compensation unit 663, an addition unit 664, and a phase addition calculation unit 642. .

(Low-pass filter 671)
Low-pass filter 671 extracts the steady component T _L from the estimated torque T _e.

(Subtraction unit 672)
Subtraction unit 672, by subtracting the estimated torque T _e from the steady component T _L, determine the vibration components -T _H.

In Modification Example 2-1C, the phase identification unit 611c, to estimate the vibration component -T _H (multiplied by -1 to vibration component T _H of the motor torque). In the phase specifying unit 611c, the movement amount ω _ref ^* T _S is specified using the command speed ω _ref ^* , and the specified movement amount ω _ref ^* T _S is corrected using the estimated vibration component −T _H. Using the corrected movement amount Δθ (specifically, adding the phase θ _s of the motor magnetic flux Ψ _s estimated by the phase estimation unit 518 and the movement amount Δθ), the phase of the command magnetic flux vector Ψ _s ^* Specify θ _s ^* . As understood from FIGS. 15B and 15C, the operation of the phase specifying unit 611b of Modification 2-1B and the operation of the phase specifying unit 611c of Modification 2-1C are the same. Therefore, according to the modified example 2-1C, the same effect as the modified example 2-1B can be obtained.

(Modification 2-1D)
Hereinafter, the motor control device of Modification 2-1D will be described. Note that in the modification 2-1D, the same parts as those in the modification 2-1C are denoted by the same reference numerals, and description thereof may be omitted.

  As illustrated in FIG. 14D, the motor control unit 603d of Modification 2-1D includes a phase specifying unit 611d instead of the phase specifying unit 611c of Modification 2-1C.

(Phase identifying unit 611d)
Phase identification unit 611d includes a command velocity omega _ref ^*, the estimated torque T _e, and a phase theta _s estimated flux [psi _s, identifies the command flux vector [psi _s ^* phase theta _s ^*. As illustrated in FIG. 15D, the phase specifying unit 611d is different from the phase specifying unit 611c in that a torque limiter 680 is provided between the low-pass filter 671 and the subtracting unit 672.

(Torque limiter 680)
The torque limiter 680 specifies the limit torque T _lim from the steady component _TL . Specifically, the torque limiter 680 obtains the limit torque T _lim using the equations (25A) and (25B). Here, I _am means a limited current. Refer to Non-Patent Document 3 for details of the limit torque T _lim .

In variation 2-1D, the limit torque T _lim is inputted to the subtraction unit 672 instead of the vibration component -T _H variations 2-1C.

According to the modified example 2-1D, the configuration in which the motor torque does not exceed the limit torque T _lim can be easily realized.

(Modification 2-2)
Hereinafter, the motor control device of Modification 2-2 will be described. In addition, in the modification 2-2, the same code | symbol is attached | subjected about the part similar to the modification 1-2A or 2nd Embodiment, and description may be abbreviate | omitted.

  As shown in FIG. 16, the motor control unit 703 includes the amplitude specifying unit 315a described in the modified example 1-2A (FIGS. 9A and 10A) and the phase described in the second embodiment (FIGS. 12 and 13). It has the estimation part 518 and the phase specific | specification part 611a demonstrated in the modification 2-1A (FIG. 14A and FIG. 15A). According to the modified example 2-2, both the effects of the modified example 1-2A and the modified example 2-1A can be obtained.

  Note that an amplitude correction amount generation unit 317b may be provided instead of the amplitude correction amount generation unit 317a. Further, instead of the phase specifying unit 611a, a phase specifying unit 611b, a phase specifying unit 611c, or a phase specifying unit 611d may be provided.

(Modification 2-3)
Hereinafter, the motor control device of Modification 2-3 will be described. In the modified example 2-3, the same parts as those of the modified example 1-3 or the modified example 2-1A are denoted by the same reference numerals, and description thereof may be omitted.

  As illustrated in FIG. 17, the motor control unit 803 includes an amplitude specifying unit 415 described in Modification 1-3 (FIG. 11) and a phase estimation unit 518 described in the second embodiment (FIGS. 12 and 13). The phase specifying unit 611a described in the modified example 2-1A (FIGS. 14A and 15A) is included. According to the modified example 2-3, both the effects of the modified example 1-3 and the modified example 2-1A can be obtained.

  Note that an amplitude correction amount generation unit 317b may be provided instead of the amplitude correction amount generation unit 317a. Further, instead of the phase specifying unit 611a, a phase specifying unit 611b, a phase specifying unit 611c, or a phase specifying unit 611d may be provided.

  The present invention can be applied to synchronous motors such as SPMSM and IPMSM. Those synchronous motors are suitable for a heat pump refrigeration apparatus used in an air conditioner or a water heater.

100 motor control device 101 inverter 102 three-phase motor 103, 203, 303a, 303b, 403, 503, 603a, 603b, 603c, 603d, 703, 803, 903 motor control unit 104 duty generation unit 105a first current sensor 105b second Current sensors 106, 906 u, w / α, β conversion units 107, 907 Voltage command calculation units 108, 908 Motor magnetic flux estimation units 109, 909 α, β / u, v, w conversion units 111, 211, 511, 611a, 611b, 611c, 611d Phase specifying unit 112, 912 Command magnetic flux specifying unit 113a, 913a α-axis magnetic flux deviation calculating unit 113b, 913b β-axis magnetic flux deviation calculating unit 114, 214 Integrator 115, 315a, 315b, 415, 961 Amplitude specifying unit 116 Base driver 117 Smoothing capacitor 1 8 DC power supplies 119a to 119f Switching elements 120a to 120f Free-wheeling diodes 216 and 963 Torque estimation units 223 and 651 Speed deviation calculation unit 261 High-pass filter 262 Gain multiplication units 317a and 317b Amplitude correction amount generation units 321a and 321b Error parameter calculation unit 322 Error Parameter deviation calculation units 323, 663 PI compensation unit 330 Temporary setting unit 331 Addition unit 432 Discretization error compensation unit 518 Phase estimation units 520, 620, 660 Multiplication units 542, 642 Phase addition calculation unit 662 Sign inversion unit 664 Addition unit 671 Low pass Filter 672 Subtraction unit 680 Torque limiter 911 Torque deviation calculation unit 962 Speed / position calculation unit 964 Speed control unit

Claims (8)

A motor control device that applies a voltage vector to the three-phase motor using an inverter so that the motor magnetic flux of the three-phase motor follows a command magnetic flux vector,
A phase specifying unit for specifying a movement amount for each control cycle in which the phase of the motor magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
An amplitude specifying unit for specifying the amplitude of the command magnetic flux vector;
A command magnetic flux specifying unit for specifying the command magnetic flux vector using the phase of the command magnetic flux vector specified by the phase specifying unit and the amplitude of the command magnetic flux vector specified by the amplitude specifying unit;
A motor control device comprising:   The motor control device according to claim 1, wherein the phase specifying unit specifies the phase of the command magnetic flux vector by integrating the movement amount. A motor current on a three-phase AC coordinate in the three-phase motor is represented by a two-phase coordinate, and a voltage vector to be applied to the three-phase motor is represented by the two-phase coordinate. A motor magnetic flux estimator for estimating the motor magnetic flux applied to the three-phase motor using a shaft voltage;
A phase estimation unit that estimates the phase of the motor magnetic flux using the estimated motor magnetic flux, and
The motor control device according to claim 1, wherein the phase specifying unit specifies the phase of the command magnetic flux vector using the phase of the motor magnetic flux estimated by the phase estimation unit and the movement amount. .   The phase specifying unit (i) corrects the command speed using the estimated vibration component of the motor torque, specifies the movement amount using the corrected command speed, and determines the specified movement amount. To identify the phase of the command magnetic flux vector, or (ii) identify the amount of movement using the command speed, and correct the identified amount of movement using a vibration component of the estimated motor torque 4. The motor control device according to claim 1, wherein the phase of the command magnetic flux vector is specified using the corrected movement amount. 5. The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
(A) a first inner product of the estimated motor magnetic flux and a shaft current that is a two-phase coordinate representing a motor current on a three-phase AC coordinate in the three-phase motor, or (b) the three-phase motor A feedback control using the second inner product of the estimated magnetic flux of the permanent magnet of the motor and the axial current representing the motor current on the three-phase AC coordinate in the three-phase motor by the two-phase coordinate. 5. The motor control device according to claim 1, further comprising: a correction unit that corrects the temporary amplitude and specifies a correction amplitude as the amplitude to be given to the command magnetic flux specifying unit. The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
A discretization error compensator for identifying a compensation amplitude smaller than the temporary amplitude as the amplitude to be given to the command magnetic flux specifying unit, wherein the higher the speed of the three-phase motor, the higher the temporary amplitude and the compensation 5. The motor control device according to claim 1, further comprising: a discretization error compensator that identifies the compensation amplitude so that a difference from the use amplitude becomes large. The amplitude specifying unit includes:
A temporary setting unit for setting a temporary amplitude of the command magnetic flux vector;
(A) a first inner product of the estimated motor magnetic flux and a shaft current that is a two-phase coordinate representing a motor current on a three-phase AC coordinate in the three-phase motor, or (b) the three-phase motor A feedback control using the second inner product of the estimated magnetic flux of the permanent magnet of the motor and the axial current representing the motor current on the three-phase AC coordinate in the three-phase motor by the two-phase coordinate. A correction unit that corrects the temporary amplitude and identifies a correction amplitude,
A discretization error compensator that specifies a compensation amplitude smaller than the correction amplitude as the amplitude to be given to the command magnetic flux specifying unit, the higher the speed of the three-phase motor, the higher the correction amplitude and the compensation 5. The motor control device according to claim 1, further comprising: a discretization error compensator that identifies the compensation amplitude so that a difference from the use amplitude becomes large. A generator control device that applies a voltage vector to the three-phase generator using a converter so that the generator magnetic flux of the three-phase generator follows a command magnetic flux vector,
A phase specifying unit for specifying a movement amount for each control cycle in which the phase of the generator magnetic flux should move using a command speed, and specifying a phase of the command magnetic flux vector using the specified movement amount;
An amplitude specifying unit for specifying the amplitude of the command magnetic flux vector;
A command magnetic flux specifying unit for specifying the command magnetic flux vector using the phase of the command magnetic flux vector specified by the phase specifying unit and the amplitude of the command magnetic flux vector specified by the amplitude specifying unit;
A generator control device comprising:

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