Power Converter Apparatus

Abstract

A power converter apparatus comprising: a power converter that outputs signal to the magnet motor to vary the output frequency, output voltage and output current of the magnet motor, a control unit controls the power converter, wherein the control unit calculating the gain of the magnetic flux component of the q-axis, which varies with the phase of the magnet motor, calculating the d-axis induced voltage command value based on a value of the induced voltage coefficient, frequency estimates or frequency command value, and the gain of the flux component of the q-axis.

Description

TECHNICAL FIELD

This invention relates to a power converter apparatus.

BACKGROUND ART

When the magnet motor induced voltage has superimposed 5th and 7th order components of the fundamental frequency, the controller's memory stores magnet motor induced voltage data, and based on the angular frequency ω and rotation position θ, d-axis and q-axis induced voltage command values are generated based on the angular frequency ω and rotational position θ, and the control technique to make the current sinusoidal is described in Patent Document 1.

CITATION LIST

Patent Document

Patent Documents 1 Patent Publication No. 2003-199390

SUMMARY OF THE INVENTION

Problems to be Solved by the Invention

In Patent Document 1, it is necessary to store magnet motor induced voltage data in the controller's memory. However, when the induced voltage is a square wave, current pulsation due to odd components (11th, 13th, 17th, 19th, 23rd, 25th . . . ) excluding multiples of 3 of the harmonic components may occur. The generation of current pulsation is possible.

The purpose of this invention is to provide a power converter apparatus that makes the magnet motor current sinusoidal without having induced voltage data.

One preferred example of the invention is a power converter apparatus comprising a power converter that outputs signal to the magnet motor to vary the output frequency, output voltage and output current of the magnet motor, a control unit controls the power converter, wherein the control unit calculating the gain of the magnetic flux component of the q-axis, which varies with the phase of the magnet motor, calculating the d-axis induced voltage command value based on a value of the induced voltage coefficient, frequency estimates or frequency command value, and the gain of the flux component of the q-axis.

Effects of the Invention

According to this invention, the current of magnet motor can be sinusoidal without having induced voltage data.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1: System configuration diagram of the power converter apparatus and other equipment in Example 1.

FIG. 2: Configuration diagram of the magnetic flux gain calculation unit in Example 1.

FIG. 3: Configuration diagram of the vector control arithmetic unit in Example 1.

FIG. 4: Control characteristics 1.

FIG. 5: Configuration diagram of the q-axis magnetic flux gain calculation unit (N=4) in the example.

FIG. 6: Configuration diagram of the magnetic flux gain calculation unit (N=4) for the d-axis in Example 1.

FIG. 7: Control characteristics 2.

FIG. 8: Configuration diagram of the q-axis magnetic flux gain calculation unit (N=1) in Example 1.

FIG. 9: Configuration diagram of the magnetic flux gain calculation unit (N=1) for the d-axis in Example 1.

FIG. 10: Control characteristic 3.

FIG. 11: Configuration diagram for checking the manifestation of the invention.

FIG. 12: System configuration diagram of the power converter apparatus and other equipment in Example 2.

FIG. 13: System configuration diagram of the power converter apparatus and other equipment in Example 3.

FIG. 14: System configuration diagram of the power converter apparatus and other equipment in Example 4.

MODE FOR CARRYING OUT THE INVENTION

The following drawings are used to explain this example in detail. The same reference numbers are used for common configurations in each figure. The examples described below are not limited to the illustrated examples.

EXAMPLE 1

FIG. 1 shows a system configuration diagram with power converter apparatus and magnet motor in Example 1.

Magnet motor 1 outputs motor torque that is a composite of the torque component due to the magnetic flux of the permanent magnet and the torque component due to the inductance of the armature winding.

Power converter 2 is equipped with semiconductor devices as switching elements. Power converter 2 inputs 3-phase AC voltage command value v_u*, v_v*, v_w* and outputs voltage values proportional to 3-phase AC voltage command value v_u*, v_v*, v_w* based on the output of power converter 2, magnet motor 1 is driven, and the output voltage value, output frequency value, and output current value of magnet motor 1 are controlled variably. IGBT (Insulated gate bipolar transistor) may be used as switching elements.

DC power supply 3 supplies DC voltage and DC current to power converter 2.

The current detector 4 outputs i_uc, i_vc, and i_wc, which are the detected values of the alternating current i_u, i_v, and i_w of the three phase magnet motor 1. The current detector 4 detects the alternating current of two of the three phase magnet motor 1, for example, phase u and phase w. The alternating current of phase v may be calculated from the AC condition (i_u+i_v+i_w=0) to be i_v=−(i_u+i_w).

In this example, the current detector 4 is shown in the power converter apparatus, but it can also be located outside the power converter apparatus.

The control unit is equipped with a coordinate conversion unit 5, speed control arithmetic unit 6, magnetic flux gain calculation unit 7, vector control arithmetic unit 8, phase error estimation unit 9, frequency and phase estimation 10, and coordinate conversion unit 11 described below. Unit 8, phase error estimation unit 9, frequency and phase estimation 10, and coordinate conversion unit 11.

The control unit controls the output of power converter 2 so that the output voltage value, output frequency value, and output current of magnet motor 1 are controlled variably.

The control unit is composed of microcomputers and semiconductor integrated circuits (arithmetic and control means) such as DSP (digital signal processor), etc. Any or all of the control unit can be composed of hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

The CPU (Central Processing Unit) of the control unit reads the program stored in the memory or other recording device and executes the processing of each part of the coordinate conversion unit 5 and other parts described above.

Next, each component of the control unit is explained. Coordinate conversion unit 5 outputs current sense values i_dc and i_qc for the d- and q-axes from the three-phase alternating current i_u, i_v, i_w detection values i_uc, i_vc, i_wc and phase estimate value θ_dc.

The speed control arithmetic unit 6 calculates the torque command value τ* based on the frequency command value ω_r* and frequency estimates ω_dc and divides it by the torque coefficient to output the q-axis current command value i_q*

The magnetic flux gain calculation unit 7 outputs the gains G_d (q_dc) and G_q (q_dc) of the d-axis and q-axis magnetic flux components that vary with phase based on the phase estimate value θ_dc

The vector control arithmetic unit 8 outputs current command value i_d*, i_q*, current sense value i_dc, i_qc, frequency estimates ω_dc of the d-axis and q-axis, the electrical circuit parameters of magnet motor 1 and voltage command value v_dc** and v_qc** are calculated based on the gains G_d (q_dc) and G_q (q_dc) of the magnetic flux components of the q-axis and d-axis.

The phase error estimation unit 9 outputs the estimated phase error Δθ_c, which is the deviation between the phase estimate value θ_dc, which is the phase of the control, and the phase θ_d of the magnet motor 1 by using the control axis d-axis and q-axis voltage command value v_dc**, v_qc**, frequency estimates ω_dc, current sense value i_dc, i_qc and electrical circuit parameters of magnet motor 1.

The frequency and phase estimation 10 outputs the frequency estimate ω_dc and phase estimate value θ_dc based on the phase error estimates Δθ_c

Coordinate conversion unit 11 outputs 3-phase AC voltage command value v_u*, v_v*, and v_w* from d-axis and q-axis voltage command value v_dc** and v_qc** and phase estimate value θ_dc.

First, the basic operation of the sensor-less vector control system when using the magnetic flux gain calculation unit 7, which is a feature of this example is described.

The speed control arithmetic unit 6 calculates the torque command τ* and the current command value i_q* of the q-axis according to Formula 1 by proportional and integral control so that the frequency estimates ω_dc follow the frequency command value ω_r*.

$\begin{array}{cc}\left[\mathrm{Formula}1\right]& \\ \begin{array}{c}{\tau }^{*}=\left({\omega }_r^{*}-{\omega }_{dc}\right)\left(K_{\mathrm{sp}}+\frac{K_{\mathrm{si}}}{s}\right)\\ i_q^{*}=\frac{{\tau }^{*}}{3/2P_m[K_e^{*}+\left(L_d^{*}-L_q^{*}\right)i_d^{*}}\end{array})& \left(1\right)\end{array}$

WHEREAS,

• • K_sp: proportional gain of speed control, K_si: integral gain of speed control, P_m: polar logarithm,
  • K_e: Induced voltage coefficient, L_d: d-axis inductance,
  • L_q: q-axis inductance,
  • *:set value, s is Laplace operator

The magnetic flux gain calculation unit 7 and vector control arithmetic unit 8 in FIG. 1 are explained.

FIG. 2 shows the block diagram of the magnetic flux gain calculation unit 7, which consists of the q-axis magnetic flux gain calculation unit 71 and the d-axis magnetic flux gain calculation unit 72, flux gain calculation unit 72 for the d-axis.

The q-axis magnetic flux gain calculation unit 71 calculates the sine function of the phase estimate according to Formula 2 using the phase estimate value θ_dc and outputs the q-axis magnetic flux gain G_q (θ_dc).

$\begin{array}{cc}\left[\mathrm{Formula}2\right]& \\ G_q\left({\theta }_{dc}\right)=-\sum _{n=1}^N\frac{12n}{{\left(6n\right)}^2-1}\sin \left(6n{\theta }_{dc}\right)& \left(2\right)\end{array}$

The magnetic flux gain calculation unit 72 of d-axis calculates the sine function of the phase estimate according to Formula 3 using the phase estimate value θ_dc and outputs the magnetic flux gain G_q (θ_dc) of d-axis. N is the order and a natural number.

$\begin{array}{cc}\left[\mathrm{Formula}3\right]& \\ G_d\left({\theta }_{dc}\right)=1-\sum _{n=1}^N\frac{2}{{\left(6n\right)}^2-1}\sin \left(6n{\theta }_{dc}\right)& \left(3\right)\end{array}$

FIG. 3 shows the block diagram of vector control arithmetic unit 8. First, the d-axis voltage command value of vector control arithmetic unit 8 is explained.

The permanent magnet motor 1 induced voltage coefficient K_e* 81 and q-axis magnetic flux gain G_q (θ_dc) are input to multiplier 82.

The output of multiplier 82 is input to multiplier 83 together with frequency estimates ω_dc and its output is d-axis induced voltage command value e_dc* shown in Formula 4.

Here, frequency estimates ω_dc is used as the input to multiplier 83, but it can be modified so that instead of frequency estimates ω_dc, frequency command value ω_r* is used as the input to multiplier 83 and multiplied with the output of multiplier 82.

[Formula 4]

e _dc*=ω_dcK_e*G_q(θ_dc)   (4)

The induced voltage coefficient K_e* 81 is a constant value and is not a data such as induced voltage that varies with rotational position. In addition, the calculation section 84 calculates d-axis voltage command value v_dc0* according to Formula 5 by using the electrical circuit parameters of the permanent magnet motor 1, such as the set value of winding resistance R*, the set value of q-axis inductance L_q*, the d-axis current command value i_d*, the q-axis current command value i_q*, frequency estimates ω_dc.

The output v_dc0* of arithmetic unit 84 is input to adder 85 together with the d-axis induced voltage command value e_dc*, and the output of adder 85 is the d-axis voltage command value reference value v_dc* shown in Formula 6.

$\begin{array}{cc}\left[\mathrm{Equation}5\right]& \\ v_{dc0}^{*}=R^{*}{i}_d^{*}-{\omega }_{dc}{L}_q^{*}\frac{1}{1+\mathrm{Tacr}s}{i}_q^{*}& \left(5\right)\end{array}$ $\begin{array}{cc}\left[\mathrm{Formula}6\right]& \\ v_{dc}^{*}=v_{dc0}^{*}-e_{dc}^{*}& \left(6\right)\end{array}$

where T_acr: Response time constant of current control

Second, the q-axis voltage command value of vector control arithmetic unit 8 is explained.

The induced voltage coefficient K_e* 81 of permanent magnet motor 1 and the magnetic flux gain G_d (θ_dc) of the d-axis are input to multiplier 87.

The output of multiplier 87 is input to multiplier 88 together with frequency estimate ω_dc.

The output of multiplier 88 is the q-axis induced voltage command value e_qc* shown in Formula 7.

Here, frequency estimates ω_dc is used as the input of multiplier 88, but it can be modified so that frequency command value ω_r* is used as the input of multiplier 88 instead of frequency estimates ω_dc and multiplied with the output of multiplier 87.

[Formula 7]

e _qc*=ω_dcK_e*G_d(θ_dc)  (7)

In addition, the calculation section 86 calculates the electrical circuit parameters of the permanent magnet motor 1 of winding resistance setting R*, d-axis inductance setting L_d*, d-axis current command value i_d*, q-axis current command value i_q*, frequency estimates ω_dc are used to calculate the q-axis voltage command value v_qc0* according to Formula 8.

The output v_qc0* of arithmetic unit 86 is input to adder 89 together with the q-axis induced voltage command value e_qc*. The output of adder 89 is the reference value v_qc* of the q-axis voltage command value shown in Formula 9.

$\begin{array}{cc}\left[\mathrm{Equation}8\right]& \\ v_{qc0}^{*}=R^{*}{i}_q^{*}+{\omega }_{dc}{L}_d^{*}\frac{1}{1+\mathrm{Tacr}s}{i}_d^{*}& \left(8\right)\end{array}$ $\begin{array}{cc}\left[\mathrm{Formula}9\right]& \\ v_{qc}^{*}=v_{qc0}^{*}+e_{qc}^{*}& \left(9\right)\end{array}$

Third, the current control operation of the vector control is explained. d-axis and q-axis voltage correction values Δv_dc and Δv_qc are calculated according to Formula 10 by proportional control and integral control so that the current sense values i_dc and i_qc of each component follow the current command values i_d* and i_q* of the d and q axes, respectively.

$\begin{array}{cc}\left[\mathrm{Fromula}10\right]& \\ [\begin{array}{c}\Delta v_{dc}=\left(K_{\mathrm{pd}}+\frac{K_{\mathrm{id}}}{s}\right)\left(i_d^{*}-i_{dc}\right)\\ \Delta v_{qc}=\left(K_{\mathrm{pq}}+\frac{K_{\mathrm{iq}}}{s}\right)\left(i_q^{*}-i_{qc}\right)\end{array}& \left(10\right)\end{array}$

WHEREAS,

• • K_pd: proportional gain of current control of d-axis, K_id: integral gain of current control of d-axis
  • K_pq: proportional gain of q-axis current control, K_iq: integral gain of q-axis current control

In addition, the d-axis and q-axis voltage command value v_dc** and v_qc** are calculated according to Formula 11.

$\begin{array}{cc}\left[\mathrm{Fromula}11\right]& \\ \left[\begin{array}{c}{v}_{dc}^{**}=v_{dc}^{*}+\Delta v_{dc}\\ v_{qc}^{**}=v_{\mathrm{qc}}^{*}+\Delta v_{\mathrm{qc}}\end{array}\right]& \left(11\right)\end{array}$

The phase error estimation unit 9 calculates the phase error estimates Δθ based on the d-axis and q-axis voltage command value v_dc**, v_qc**, current sense value i_dc, i_qc and the electrical circuit parameters of magnet motor 1 (R*, L_q*), frequency estimation ω_dc and the extended induced voltage formula (Formula 12).

$\begin{array}{cc}\left[\mathrm{Formula}12\right]& \\ \Delta \theta c={\tan }^{-1}\left(\frac{v_{dc}^{**}-R^{*}{i}_{dc}+{\omega }_{dc}{L}_q^{*}{i}_{\mathrm{qc}}}{v_{\mathrm{qc}}^{**}-R^{*}{i}_{\mathrm{qc}}-{\omega }_{dc}{L}_q^{*}{i}_{dc}}\right)& \left(12\right)\end{array}$

Frequency and phase estimation 10 will be described.

To make the phase error estimates Δθ_c follow the command value Δθ_c*, frequency estimates ω_dc are calculated according to Formula 13 by P(proportional)+I(integral) control operation, and phase estimates value θ_dc are calculated according to Formula 14 by I control operation.

$\begin{array}{cc}\left[\mathrm{Formula}13\right]& \\ {\omega }_{dc}=\left({\mathrm{Kp}}_{\mathrm{pll}}+\frac{{\mathrm{Ki}}_{\mathrm{pll}}}{s}\right)\left({\mathrm{\Delta \theta }}_c^{*}-{\mathrm{\Delta \theta }}_c\right)& \left(13\right)\end{array}$

WHEREAS,

• • Kp_pll: proportional gain of PLL control, Ki_pll: integral gain of PLL control

$\begin{array}{cc}\left[\mathrm{Formula}14\right]& \\ \theta dc=\frac{1}{s}·{\omega }_{dc}& \left(14\right)\end{array}$

The principle of the sinusoidal motor current in the present invention is explained next.

FIG. 4 shows control characteristic 1 when the d-axis and q-axis magnetic flux gains are G_q (θ_dc)=0 and G_d (θ_dc)=1, respectively. This is the simulation result of driving magnet motor 1 with square wave induced voltage.

In FIG. 4, the upper row displays the d-axis and q-axis induced voltage command value e_dc* and e_qc*, the middle row displays the square wave induced voltage e_u of phase u and the command value equivalent e_u* of the induced voltage of phase u, and the lower row displays the alternating current i_u of phase u. Since G_q (θ_dc)=0 and G_d (θ_dc)=1 the d-axis and q-axis induced voltage command values e_dc* and e_qc* are Formula 15 and e_u* is a sine wave.

$\begin{array}{cc}\left[\mathrm{Formula}15\right]& \\ \begin{array}{c}{e}_{dc}^{*}=0.\\ e_{\mathrm{qc}}^{*}={\omega }_{dc}{K}_e^{*}\end{array})& \left(15\right)\end{array}$

As a result, the alternating current i_u of phase u is not a sinusoidal current, but a distorted current with superimposed 5th and 7th harmonics.

In using the magnetic flux gain calculation unit 7 of the present invention, the order N shown in Formula 2 is set to 4, for example. FIG. 5 shows the block (compensation up to the 24th harmonic) of the q-axis magnetic flux gain calculation unit 71a with N=4.

The phase of n=1 is calculated by 71a1 and the magnetic flux gain is calculated by 71a2. n=2 is calculated by 71a3 and the magnetic flux gain is calculated by 71a4. n=3 is calculated by 71a5 and the magnetic flux gain is calculated by 71a6. The phase of n=4 is calculated by 71a7 and the magnetic flux gain is calculated by 71a8. These are uniquely determined, and the signal obtained by adding the results of operations n=1 to n=4 is G_q (θ_dc).

Next, set N=4 as shown in Formula 3. FIG. 6 shows the block diagram (compensation up to the 24th harmonic) of the d-axis magnetic flux gain calculation unit 72a set to N=4.

The phase of n=1 is calculated by 72a1 and the magnetic flux gain is calculated by 72a2. n=2 is calculated by 72a3 and the magnetic flux gain is calculated by 72a4. n=3 is calculated by 72a5 and the magnetic flux gain is calculated by 72a6. The phase of n=4 is calculated by 72a7 and the magnetic flux gain is calculated by 72a8. The constant “1” is set in the setting section 72a9. n=1 to n=4 and the constant “1” are added to obtain the signal G_d (θ_dc).

FIG. 7 shows the control characteristics 2 when magnetic flux gain calculation unit 7 is used (N=4 is used). This is the simulation result of driving magnet motor 1 whose induced voltage is a square wave.

In FIG. 7, the top row shows the d-axis and q-axis induced voltage command value e_dc* and e_qc*, the middle row shows the square wave induced voltage e_u of phase u and the command value equivalent e_u* of the induced voltage of phase u, and the bottom row shows the alternating current i_u of phase u.

G_q (θ_dc) is shown the block diagram in FIG. 5, G_d (θ_dc) shown in the block diagram in FIG. 6.

The d-axis and q-axis induced voltage command values e_dc* and e_qc* include up to 24th harmonic components, and the induced voltage command value equivalent e_u* is a waveform far from a sine wave containing harmonics, but the alternating current i_u is a sinusoidal current.

The effect of the invention is evident. In the case of FIG. 4, the d-axis induced voltage command value e_dc* is zero, but the d-axis induced voltage command value e_dc* is not zero as in FIG. 4, but has a shape that includes harmonic components (sawtooth wave). This is one of the characteristics.

Furthermore, set N=1 in the magnetic flux gain calculation unit 7 in FIG. 1. (In Formula 2, set N=1. FIG. 8 shows the block of magnetic flux gain calculation unit 71b for the q-axis set to N=1 (compensation of 6th harmonic). n=1 phase is calculated in calculation unit 71b1 and magnetic flux gain is calculated in calculation unit 71b2. The signal is G_q (θ_dc).

Next, set N=1 in Formula 3. FIG. 9 shows the block of the magnetic flux gain calculation unit 72b for the d-axis set to N=1 (compensation of 6th harmonic). n=1 phase is calculated in calculation unit 72b1 and magnetic flux gain in calculation unit 72b2. The constant “1” is set in the setting unit 72b3. The additive signal with constant “1” and n=1 is G_d (θ_dc).

FIG. 10 shows the control characteristics 3 when the magnetic flux gain calculation unit 7 is used (N=1 is used). This is the simulation result of driving magnet motor 1 whose induced voltage is a square wave.

In FIG. 10, the upper row displays the d-axis and q-axis induced voltage command values e_dc* and e_qc*, the middle row displays the square wave induced voltage of phase u e_u and the command value equivalent e_u* of the induced voltage of phase u, and the lower row displays the alternating current i_u of phase u. G_q (θ_dc) is the block diagram in FIG. 8, G_d (θ_dc) is the case of the calculation in the block diagram in FIG. 9.

The d-axis and q-axis induced voltage command values e_dc* and e_qc* contain 6th harmonic components, and the induced voltage command value equivalent e_u * is far from a sinusoidal waveform, but the alternating current i_u of phase u is somewhat distorted compared to a sinusoidal waveform. The effect of this invention is obvious. To confirm the effect of this example, the order N was set to N=4 and N=1 as an example. N is a natural number, and the larger the value of N, the closer the alternating current of the u-phase can be to a sine wave.

According to this example, the current of magnet motor can be made sinusoidal without having induced voltage data by a general-purpose controller or other means.

Here, the verification method when this example is adopted is explained using FIG. 11. voltage detector 21 and current detector 22 are attached to the power converter apparatus 20 that drives magnet motor 1, and encoder 23 is attached to the shaft of magnet encoder 23 is attached to the shaft of magnet motor 1.

The voltage detection values of 3-phase AC (v_uc, v_vc, v_wc) and current sense values of 3-phase AC (i_uc, i_vc, i_wc) which are outputs of voltage detector 21, and the position detection values θ, which are outputs of encoder, are input to the calculation section 24 for vector voltage and current components, V_dcc, v_qcc, i_dcc and i_qcc of the vector current components and the detected value ω_rc, which is the derivative of position θ, are calculated.

The observation section 25 of each part waveform calculates the d-axis and q-axis induced voltages e_dc{circumflex over ( )} and e_qc{circumflex over ( )} using Formula 16.

[Formula 16]

e _dc {circumflex over ( )}=v _dcc−(Ri_dcc−ω_rcL_qi_qcc)

e _qc {circumflex over ( )}=v _qcc−(Ri_qcc+ω_rcL_di_dcc)  (16)

By observing the voltage waveforms of e_dc{circumflex over ( )} and e_qc{circumflex over ( )}, it is obvious that the invention has been adopted.

EXAMPLE 2

FIG. 12 shows the system configuration diagram with power converter apparatus and magnet motor in Example 2.

While Example 1 modified the d-q-axis voltage command value of the rotary seat coordinates, this example modifies the U-V-W voltage command value of the fixed coordinates.

In FIG. 12, magnet motor 1, power converter 2, DC power supply 3, current detector 4, coordinate conversion unit 5, speed control arithmetic unit 6, magnetic flux gain calculation unit 7, phase error estimation unit 9, frequency and phase estimation 10, and coordinate conversion unit 11 are the same as in FIG. 1. The vector control arithmetic unit 8 in FIG. 3 without the induced voltage coefficients K_e* 81, multiplier 82, multiplier 83, adder 85, multiplier 87, multiplier 88, and adder 89 is shown in FIG. 12. FIG. 12 shows the vector control arithmetic unit 8.

12 is the coordinate conversion unit from rotational coordinates to fixed coordinates and 13 is the adder. Coordinate conversion unit 12 replaces the operations in vector control arithmetic unit 8 in FIG. 3. magnetic flux gain G_q (θ_dc) and d-axis magnetic flux gain G_d (θ_dc) to calculate the d-axis and q-axis induced voltage command values e_dc* and e_qc*. Then, coordinate conversion unit 12 outputs three-phase induced voltage command values e_u*, e_v*, and e_w* from the d-axis and q-axis induced voltage command values e_dc*, e_qc* and the phase estimate value θ_dc.

In this example, the d-axis and q-axis induced voltage command values e_dc* and e_qc* are converted to 3-phase induced voltage command values e_u*, e_v*, and e_w* to modify the 3-phase voltage command values.

According to this example, a sinusoidal current can be realized as in Example 1.

EXAMPLE 3

FIG. 13 is a system configuration diagram with power converter apparatus and magnet motor in Example 3. In FIG. 13, magnet motor 1, power converter 2, DC power supply 3, current detector 4, coordinate conversion unit 5, speed control arithmetic unit 6, magnetic flux gain calculation unit 7, vector control arithmetic unit 8, phase error estimation unit 9, frequency and phase estimation 10, and coordinate conversion unit 11 is identical to FIG. 1. 14 is an IOT(Internet of Things) controller that can perform machine learning.

Example 1 is a configuration in which the drive mode (square wave drive or sine wave drive) and parameters such as the order N of Formula 2 or Formula 3 are set in the controller (microcomputer or other control unit) of the power converter.

When the control unit in Example 3 receives an instruction for sinusoidal drive, it sets the gain of the q-axis flux component to 0 and the gain of the d-axis flux component to 1.

When a square wave drive instruction is received, the control unit calculates the gain of said magnetic flux component of the q-axis as a sine function of the phase estimate based on Formula 2. Furthermore, the control unit calculates the gain of the magnetic flux component of the d-axis as a sinusoidal function of the phase estimate based on Formula 3, and subtracts the result of the calculation from 1.

In this example, the control unit feeds back the voltage command value v_dc**, v_qc** and current sense value i_dc, i_qc, phase error estimates Δθ_c to the upper IOT CONTROLLER 14. IOT CONTROLLER 14 analyzes the signals such as voltage command value v_dc**, v_qc** and current sense value i_dc, i_qc, phase error estimates Δθ_c by machine learning, and based on the machine learning, the control unit re-sets the drive mode and order N to the power converter 2 controller.

According to this example, a sinusoidal current can be realized as in Example 1.

Example 4

FIG. 14 shows the system configuration diagram with power converter apparatus and magnet motor in Example 4.

This example is the application of this system to a magnet motor drive system.

In FIG. 14, the components magnet motor 1, coordinate conversion unit 5, speed control arithmetic unit 6, magnetic flux gain calculation unit 7, vector control arithmetic unit 8, phase error estimation unit 9, frequency and phase estimation 10, and coordinate conversion unit 11 are identical to those in FIG. 1.

Magnet motor 1, a component of FIG. 1, is driven by power converter apparatus 20. Power converter apparatus 20 consists of coordinate conversion unit 5, speed control arithmetic unit 6, magnetic flux gain calculation unit 7, vector control arithmetic unit 8, vector control arithmetic unit 8, phase error estimation unit 9, frequency and phase estimation unit 10, and magnetic flux gain calculation unit 11. arithmetic unit 6, magnetic flux gain calculation unit 7, vector control arithmetic unit 8, phase error estimation unit 9, frequency and phase estimation 10 and coordinate conversion unit 11 are implemented as software 20a. The power converter apparatus 20 has the power converter 2, DC power supply 3, and current detector 4 of FIG. 1 implemented as hardware.

From the display screen of a higher-level device such as a digital operator 20b, personal computers 28, tablets 29, smartphones 30, etc., the “drive mode” 26 to set the square wave drive or sinusoidal drive of software 20a, Formula 2 and Formula 3, the “order N 27” can be set and changed.

If this example is applied to a magnet motor drive system, the current of magnet motor, which is a square wave induced voltage, can be controlled sinusoidally. The “drive mode” and “N” may be set on a field bus such as a programmable logic controller, a local area network connected to a computer, or an IOT CONTROLLER.

The calculation results in the calculation sections 71a2, 71a4, 71a6, 71a8 of the magnetic flux gain in FIG. 5 and the calculation sections 72a2, 72a4, 72a6, 72a8 in FIG. 6 in Example 1 are constants, but these constants may be rewritten.

So far, in Examples 1 through 4, we have applied this method to position sensor-less control, but it can also be applied to vector control with an encoder attached to the shaft axis of magnet motor 1.

Furthermore, in Examples 1 through 4, voltage correction values Δv_dc and Δv_qc were created from current command value i_d*, i_q * and current sense value i_dc, i_qc, and the operation shown in Formula 11 was performed to add this voltage correction value and the voltage reference value for vector control. Not only that, from current command value i_d*, i_q* and current sense value i_dc, i_qc, the intermediate current command value i_d**, i_q** shown in Formula 17 used for vector control calculation were created, and frequency estimates ω_dc and the vector control operation shown in Formula 18 may be performed using the electrical circuit parameters of magnet motor 1.

$\begin{array}{cc}\left[\mathrm{Formula}17\right]& \\ \begin{array}{c}{i}_d^{**}=\left(K_{\mathrm{pd}1}+\frac{K_{\mathrm{id}1}}{s}\right)\left(i_d^{*}-i_{dc}\right)\\ i_q^{**}=\left(K_{\mathrm{pq}1}+\frac{K_{\mathrm{iq}1}}{s}\right)\left(i_q^{*}-i_{qc}\right)\end{array}& \left(17\right)\end{array}$ $\begin{array}{cc}\left[\mathrm{Formula}18\right]& \\ \left[\begin{array}{c}{v}_{dc}^{***}=R^{*}{i}_d^{**}-{\omega }_{dc}{L}_q^{*}\frac{1}{1+T_{q}s}{i}_q^{**}\\ v_{qc}^{***}=R^{*}{i}_q^{**}+{\omega }_{dc}{L}_d^{*}\frac{1}{1+T_{d}s}{i}_d^{**}+{\omega }_{dc}{\mathrm{Ke}}^{**}\end{array}\right]& \left(18\right)\end{array}$

WHEREAS,

• • K_pd1: proportional gain of current control of d_c axis,
  • K_id1: integral gain of current control of d_c axis, K_pq1: proportional gain of current control of q_c axis, K_iq1: integral gain of current control of q_c axis, T_d: electrical time constant of d axis (L_d/R), T_q: electrical time constant of q axis (L_q/R)

Alternatively, from the current command value i_d* and i_q* and the current sense value i_dc and i_qc, the voltage correction values Δv_{d_p}* for the proportional component of d-axis, Δv_{d_i}* for the integral component of d-axis, Δv_{q_p}* for the proportional component of q-axis and the modified values Δv_{q_i}* of the integral component of the q-axis are created using Formula 19.

Then, the vector control operation shown in Formula 20 using the frequency estimates ω_dc and the electrical circuit parameters of magnet motor 1 may be performed.

$\begin{array}{cc}\left[\mathrm{Formula}19\right]& \\ \left[\begin{array}{c}\begin{array}{c}\begin{array}{c}\Delta v_{d\_p}^{*}=K_{\mathrm{pd}2}\left(i_d^{*}-i_{dc}\right)\\ \Delta v_{d\_i}^{*}=\frac{K_{\mathrm{id}2}}{s}\left(i_d^{*}-i_{dc}\right)\end{array}\\ \Delta v_{q\_p}^{*}=K_{\mathrm{pq}2}\left(i_q^{*}-i_{qc}\right)\end{array}\\ \Delta v_{q\_i}^{*}=\frac{K_{\mathrm{iq}2}}{s}\left(i_q^{*}-i_{qc}\right)\end{array}\right]& \left(19\right)\end{array}$

WHEREAS,

• • K_pd2: proportional gain of d-axis current control, K_id2: integral gain of d-axis current control, K_pq2: proportional gain of q-axis current control, K_iq2: integral gain of q-axis current control

$\begin{array}{cc}\left[\mathrm{Formula}20\right]& \\ \left[\begin{array}{c}{v}_{dc}^{****}=\left(\Delta v_{d\_p}^{*}+\Delta v_{d\_i}^{*}\right)-{\omega }_{dc}\frac{L_q^{*}}{R^{*}}\Delta v_{q\_i}^{*}\\ v_{qc}^{****}=\left(\Delta v_{q\_p}^{*}+\Delta v_{q\_i}^{*}\right)+{\omega }_{dc}\frac{L_d^{*}}{R^{*}}\Delta v_{\mathrm{d\_i}}^{*}+{\omega }_{dc}{K}_e^{*}\end{array}\right]& \left(20\right)\end{array}$

The primary delay signal i_qctd of the d-axis current command value i_d* and q-axis current sense value i_qc, frequency estimates ω_dc and the electrical circuit parameters of magnet motor 1 may be used to perform the vector control operation shown in Formula 21.

$\begin{array}{cc}\left[\mathrm{Formula}21\right]& \\ \left[\begin{array}{c}{v}_{dc}^{*****}=R^{*}{i}_d^{*}-{\omega }_{dc}{L}_q^{*}{i}_{\mathrm{qctd}}\\ v_{qc}^{*****}=R^{*}{i}_{\mathrm{qctd}}+{\omega }_{dc}{L}_d^{*}{i}_d^{*}+{\omega }_{dc}{\mathrm{Ke}}^{**}\end{array}\right]& \left(21\right)\end{array}$

In Examples 1 to 4, the switching device that constitutes power converter 2 may be a Si(silicon) semiconductor device or a wide bandgap semiconductor device such as SiC(silicon carbide) or GaN(gallium nitride).

REFERENCE SIGNS LIST

• • 1 . . . magnet motor
  • 2 . . . power converter
  • 3 . . . DC power supply
  • 4 . . . current detector
  • 5 . . . coordinate conversion unit
  • 6 . . . speed control arithmetic unit
  • 7 . . . magnetic flux gain calculation unit
  • 8 . . . vector control arithmetic unit
  • 9 . . . phase error estimation unit
  • 10 . . . frequency and phase estimation
  • 11 . . . coordinate conversion unit
  • 12 . . . coordinate conversion unit
  • 13 . . . Addition section, Adder
  • 14 . . . IOT controller
  • 20 . . . power converter apparatus
  • 20 a . . . power converter apparatus software
  • 20 b . . . digital operator of power converter apparatus
  • 21 . . . voltage detector
  • 22 . . . current detector
  • 23 . . . encoder
  • 24 . . . calculation part of vector current component
  • 25 . . . observation of current waveforms of each part
  • 26 . . . control mode
  • 27 . . . N (degree)
  • 28 . . . personal computers
  • 29 . . . tablet
  • 30 . . . smartphones
  • i_d* . . . d-axis current command value
  • i_q* . . . q-axis current command value
  • ω_r* . . . frequency command value
  • ω_dc . . . frequency estimates
  • ω_r . . . magnet motor frequency
  • G_q (θ_dc) . . . q-axis magnetic flux component gain
  • G_d (θ_dc) . . . d-axis magnetic flux component gain
  • e_dc* . . . d-axis induced voltage command value
  • e_dc* . . . q-axis induced voltage command value
  • v_dc* v_dc** v_dc** v_dc*** v_dc**** v_dc***** . . . d-axis voltage command value
  • v_qc* v_qc** v_qc*** v_qc**** v_qc***** . . . q-axis voltage command value
  • Δθ_c . . . phase error estimates

Claims

1. A power converter apparatus comprising: a power converter that outputs signal to the magnet motor to vary the output frequency, output voltage and output current of the magnet motor,a control unit controls the power converter,wherein the control unitcalculating the gain of the magnetic flux component of the q-axis, which varies with the phase of the magnet motor, calculating the d-axis induced voltage command value based on a value of the induced voltage coefficient, frequency estimates or frequency command value, and the gain of the flux component of the q-axis.

2. A power converter apparatus according to claim 1, the control unit is calculating the gain of the magnetic flux component of the d-axis, which varies with the phase of the magnet motor,calculating the q-axis induced voltage command value based on the set value of the induced voltage coefficient, frequency estimates or frequency command value, and the gain of the d-axis magnetic flux component.

3. A power converter apparatus according to claim 1, the control unit is calculating the command values of the induced voltages of the three phases based on the command values of the induced voltages of the d-axis and the phase estimate value.

4. A power converter apparatus according to claim 2, the control unit is calculating the command values of the induced voltages of the three phases based on the command value of the induced voltage of the d-axis, the command value of the induced voltage of the q-axis, and the phase estimate value.

5. A power converter apparatus according to claim 1, the control unit is calculating the gain of said flux component of the q-axis as a sine function of the phase estimate value.

6. A power converter apparatus according to claim 2, the control unit is calculating the gain of said flux component of the d-axis as a sine function of the phase estimate value,and subtracting the result from 1.

7. A power converter apparatus according to claim 2, the control unit is,receiving instructions on whether the magnet motor is to be driven by a sinusoidal or square wave drive,when the instruction indicating a sinusoidal drive, the gain of said flux component of the q-axis is set to 0 and the gain of said flux component of the d-axis is set to 1,when the instruction indicating drive square wave drive, obtaining the gain of said flux component of the q-axis by computing as a sine function of the phase estimate value, andobtaining the gain of said flux component of the d-axis by computing as a sine function of the phase estimate and subtracting the result of that calculation from 1.

8. A power converter apparatus according to claim 2, when the magnet motor is directed to select a square wave drive,

9. A power converter apparatus according to claim 2, the control unit is,being fed back voltage command value, current sense value, phase error estimates and estimated frequency to the host device for analysis, automatically sets the order N in the sinusoidal function of the phase estimate value required to calculate the gain of said flux component in the q-axis or the gain of said flux component in the d-axis, based on analysis result from the host device.

10. A power converter apparatus according to claim 1, the control unit is,receiving direction of the order N in the sinusoidal function of the phase estimate required to calculate the gain of the flux component of the q-axis or the flux component of the d-axis,or whether the magnet motor is driven sinusoidally or square wave from digital operators or personal computers, setting and changing control based on the direction.