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1. 发明专利

JP2011067067A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2011067067A
公开(公告)日：2011-03-31
申请号：JP2009217668
申请日：2009-09-18
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： KURODA TAKASHI , MATSUMOTO YASUSHI , NOMURA HISAFUMI , ITOIGAWA NOBUO
IPC分类号： H02P6/18 , H02P21/00 , H02P27/04 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a controller for controlling an embedded permanent magnet type synchronous motor to stably operate at a low speed even under a heavy load.
SOLUTION: The controller has: current adjusters 10a, 10b for controlling a terminal voltage to adjust detected current values of the γ
1 -, δ
1 -axes to a command value; a position-speed estimator 40 for calculating a speed estimation value and a γ
2 -axis angle from the q-axis inductance set value L
q , for control corresponding to the q-axis inductance L
q , the current detection values of the γ
2 -, δ
2 -axes, and a voltage command value; a setting device 32 for determining L
q ' so that the disturbance caused by the speed estimation error included in a γ
2 angle may be almost zero; an angle setting device 33 for calculating a difference in angle between the d-axis and the γ
2 which is caused by the deviation between L
q and L
q '; and a subtractor 34 for subtracting the angle difference from the γ
2 -axis angle to correct the angle of the γ
1 -axis, by defining γ
1 -, δ
1 -axes and γ
2 -, δ
2 -axes as first and second estimation axes for control corresponding to a d-axis of a motor 1 and orthogonal axes thereof, while defining a voltage and a current as vectors on the γ
1 -, δ
1 -axes and γ
2 -, δ
2 -axes.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制嵌入式永磁同步电动机的控制器，即使在重负载下也能以低速稳定地操作。解决方案：控制器具有：用于控制端电压的电流调节器10a，10b，用于将γ 1 - ，δ 1 轴的检测电流值调整到指令值用于根据q轴电感设定值L 计算速度估计值和γ 2 角度的位置速度估计器40，用于对应于q 轴电感L ，γ 2 - ，δ 2 的电流检测值和电压指令值; 用于确定L 的设置装置32，使得由包括在γ 2 角度的速度估计误差引起的干扰可能几乎为零; 用于计算由L q 和L q 之间的偏差引起的d轴与γ 2 之间的角度差的角度设定装置33， / SB>'; 以及减法器34，用于从γ 2 角度减去角度差以校正γ 1 轴的角度，通过限定γ 1 作为用于对应于d的控制的第一和第二估计轴，SB> - ，δ 1 和γ 2 电动机1的轴线和其正交轴线，同时将电压和电流定义为γSB 1 - ，δ 1 - 和γSB - ，δ 2 。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2010035363A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2010035363A
公开(公告)日：2010-02-12
申请号：JP2008195780
申请日：2008-07-30
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04 , H02P27/06
摘要： PROBLEM TO BE SOLVED: To provide a controller of a permanent magnet type synchronous motor which allows high-accuracy measurement of the inductance, in a short time, even when the approximate value of the inductance is not known. SOLUTION: There are provided a high-frequency voltage calculator 21a, an adder 22a, a voltage coordinate converter 15, a PWM circuit 13, and a power converter 70 for applying a high-frequency voltage alternating in optional vector direction to a PMSM80, with a terminal voltage and a current of the PMSM80 as vectors. There are also provided current detectors 11u and 11w, a current coordinate converter 14, and a bandpass filter 24 for detecting the amplitude of γ-axis high-frequency current which is the high-frequency current which is parallel to the high-frequency voltage, and are further provided with a high-frequency current adjuster 31a and a high-frequency voltage calculator 21a for controlling a high-frequency voltage so that the amplitude detection value agrees with an amplitude command value of the γ-axis high-frequency current, as well as, an inductance calculator 32a for calculating the inductance of the PMSM80, from the amplitude command value of the high-frequency voltage and the amplitude detection value of the γ-axis high-frequency current. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使当电感的近似值未知时，也能够在短时间内提供能够高精度地测量电感的永磁式同步电动机的控制器。解决方案：提供了一个高频电压计算器21a，一个加法器22a，一个电压坐标转换器15，一个PWM电路13和一个功率转换器70，用于将可选矢量方向交替的高频电压施加到 PMSM80，端子电压和PMSM80的电流作为矢量。还提供了电流检测器11u和11w，电流坐标转换器14和用于检测作为与高频电压平行的高频电流的γ轴高频电流的振幅的带通滤波器24，并且还设置有用于控制高频电压的高频电流调节器31a和高频电压计算器21a，使得振幅检测值与γ轴高频电流的振幅指令值一致，如以及用于根据高频电压的幅度指令值和γ轴高频电流的振幅检测值计算PMSM80的电感的电感计算器32a。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2010057210A Device for controlling ac motor 审中-公开
标题翻译：用于控制交流电动机的装置
公开(公告)号：JP2010057210A
公开(公告)日：2010-03-11
申请号：JP2008216212
申请日：2008-08-26
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , KURODA TAKASHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04 , H02P27/06
摘要： PROBLEM TO BE SOLVED: To provide a device for controlling an AC motor such as a PMSM that measures the resistance of an armature in a short time with high accuracy. SOLUTION: A γ-axis current adjuster 20 includes: a low-pass filter 101 for operating a voltage command value from a current command value, a current detection value and a parameter estimation value; a progress compensator 102; a subtractor 103; and a divider 105. A parameter estimator 110 operates first and second parameters by amplifying a deviation between the current estimation value operated from the voltage command value, the current detection value and the parameter estimation value, and the current detection value. The parameter estimation value is operated so that the deviation between the current estimation value and the current detection value becomes zero, thereby the parameter estimation value is converged to a true value finally. By this processing, even if an electric constant of the resistance or the like of the armature of the PMSM 80 is not clear, a current can quickly be controlled to a command value. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制诸如PMSM的交流电动机的装置，其以高精度在短时间内测量电枢的电阻。解决方案：γ轴电流调节器20包括：用于从电流指令值，电流检测值和参数估计值操作电压指令值的低通滤波器101; 进度补偿器102; 减法器103; 和分频器105.参数估计器110通过放大从电压指令值，当前检测值和参数估计值操作的当前估计值与当前检测值之间的偏差来操作第一和第二参数。操作参数估计值使得当前估计值和当前检测值之间的偏差变为零，从而最终将参数估计值收敛到真值。通过该处理，即使PMSM80的电枢的电阻等的电常数不清楚，也可以将电流快速控制为指令值。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009284558A Controller for permanent-magnet synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2009284558A
公开(公告)日：2009-12-03
申请号：JP2008130795
申请日：2008-05-19
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： KURODA TAKASHI , MATSUMOTO YASUSHI , NOMURA HISAFUMI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To provide a controller for a permanent-magnet synchronous motor, which enables a presice estimation of the speed and magnetic pole position of a motor regardless of the speed range of the motor. SOLUTION: The controller for the permanent-magnet synchronous motor without a magnetic pole position detector includes: a magnetic flux observer 21 which computes a current estimated value of the motor 1 from the current detected value, a voltage command value, a magnetic flux estimated value and a speed estimated value of the motor 1 and computes a magnetic flux estimated value by amplifying the deviation between the current estimated value and the current detected value; an angle error computing unit 22 for computing the angle between γ, δ axes and the magnetic flux estimated value; a speed estimating unit 23 for computing the speed estimated value by amplifying the computed angle; and a magnetic pole position computing unit 24 for computing the magnetic position of a rotor by amplifying the speed estimated value. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于永磁同步电动机的控制器，其能够对电动机的速度和磁极位置进行预测估计，而与电动机的速度范围无关。解决方案：没有磁极位置检测器的永磁同步电动机的控制器包括：磁通量观测器21，其从当前检测值计算电动机1的当前估计值，电压指令值，磁性通量估计值和电动机1的速度估计值，并通过放大当前估计值与当前检测值之间的偏差来计算磁通量估计值; 用于计算γ，δ轴与磁通估计值之间的角度的角度误差计算单元22; 用于通过放大计算出的角度来计算速度估计值的速度估计单元23; 以及用于通过放大速度估计值来计算转子的磁性位置的磁极位置计算单元24。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2009273283A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2009273283A
公开(公告)日：2009-11-19
申请号：JP2008122894
申请日：2008-05-09
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , KURODA TAKASHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To enable correct calculation of a magnetic pole position by applying a high-frequency current of a proper magnitude when a high-frequency alternating voltage is applied to a permanent magnet type synchronous motor. SOLUTION: The controller is provided with: a bandpass filter 24 for detecting an x-axis high-frequency current amplitude; a Fourier series calculator 31 for detecting a component pulsing at cycle of an electric angle 360° from the x-axis high-frequency current amplitude and detecting a d-axis high-frequency current amplitude; a high-frequency current adjuster 32 for calculating a first high-frequency voltage amplitude command value V h ** so that the detected value of d-axis high-frequency current amplitude may match a d-axis high-frequency current amplitude command value; and a control constant calculator 33 for calculating a second high-frequency voltage amplitude command value V h * for calculating a high-frequency voltage to be applied to an electric motor 80 from a first γ-axis high-frequency voltage amplitude command value V γh ** , and calculating an angle error calculation gain K θerr from the ripple component of the detected value of x-axis high-frequency current amplitude. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：当向永磁型同步电动机施加高频交流电压时，通过施加适当幅度的高频电流，能够正确计算磁极位置。解决方案：控制器设有：用于检测x轴高频电流振幅的带通滤波器24; 傅里叶级数计算器31，用于检测与x轴高频电流振幅成360度的电角度的脉冲的分量，并检测d轴的高频电流振幅; 用于计算第一高频电压振幅指令值V ** 的高频电流调节器32，使得d轴高频电流振幅的检测值可以匹配d轴高频电流振幅指令值; 以及用于计算用于计算要施加到电动机80的高频电压的第二高频电压振幅指令值V * 的控制常数计算器33，第一γ轴高频电压振幅指令值V γh ** ，并从纹波计算角度误差计算增益K θerr x轴高频电流振幅检测值的分量。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2009124876A Control device of permanent magnet type synchronous motor 有权
标题翻译：永磁同步电动机控制装置
公开(公告)号：JP2009124876A
公开(公告)日：2009-06-04
申请号：JP2007296729
申请日：2007-11-15
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To enable stable current control and high-accuracy torque control even if a terminal voltage of a permanent magnet type synchronous motor is controlled to a maximum output voltage of a power converter. SOLUTION: The control device of the permanent magnet type synchronous motor comprises: an input voltage detector 12; a voltage limit value operator 22; a voltage amplitude operator 21; a current command operation part 18; and current adjusters 20a, 20b. The current command operation part 18 comprises: a q-axis current command value operator 131 which operates a q-axis current command value from a torque command value; a magnetic flux adjuster 122 which operates a magnetic flux correction value by amplifying a difference between a voltage limit value and a voltage command value; an adder 124 which operates a second magnetic flux limit value by adding a first magnetic flux limit value and the magnetic flux correction value; a d-axis current limit value operator 132 which operates a d-axis current limit value from the second magnetic flux limit value and a q-axis current command; and an output limiter 133 which limits an upper limit value of the d-axis current command value by using the d-axis current limit value. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使永磁式同步电动机的端子电压被控制为功率转换器的最大输出电压，也能够实现稳定的电流控制和高精度的转矩控制。永磁式同步电动机的控制装置包括：输入电压检测器12; 电压限制值运算器22; 电压幅度运算器21; 电流指令运算部18; 和电流调节器20a，20b。电流指令运算部18包括：q轴电流指令值运算器131，其从转矩指令值运算q轴电流指令值; 磁通量调节器122，其通过放大电压限制值和电压指令值之间的差异来操作磁通量校正值; 加法器124，通过添加第一磁通极限值和磁通量校正值来操作第二磁通极限值; d轴电流限制值运算器132，其根据第二磁通极限值和q轴电流指令来操作d轴电流限制值; 以及通过使用d轴电流限制值来限制d轴电流指令值的上限值的输出限制器133。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2009118545A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2009118545A
公开(公告)日：2009-05-28
申请号：JP2007285269
申请日：2007-11-01
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P6/18 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To provide a controller which enables a permanent magnet type synchronous motor to be operated stably at low speed including a zero velocity. SOLUTION: The controller, which catches the terminal voltage and the current of a permanent magnet type motor as vectors and controls the velocity of a current command vector into a velocity command, and besides controls the terminal voltage and controls the current vector into a current command vector, is equipped with current regulators 20a and 20b, which amplify the deviation between the current command vector and the current vector thereby calculating the terminal voltage command vector, a means, which sets the gain property of these current regulators, using a proportional gain K P2 and an integral time constant T I2 so that the current of the same angular frequency as the intrinsic angular frequency which flows when a rotor is oscillated with the intrinsic angular frequency of a speed control system may not be suppressed, a PWM circuit 13, which controls the terminal voltage vector into a terminal voltage command vector, a power converter 70 and the like. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够使永磁型同步电动机在包括零速度的低速下稳定地操作的控制器。
解决方案：控制器将终端电压和永磁式电机的电流作为向量，并将电流指令矢量的速度控制为速度指令，此外控制端子电压并控制电流矢量电流指令矢量装备有电流调节器20a和20b，其放大电流指令矢量和电流矢量之间的偏差，从而计算端电压指令矢量;一个装置，用于设置这些电流调节器的增益特性，使用比例增益K P2 和积分时间常数T I2 ，使得与转子以固有角度振荡时所产生的固有角频率相同的角频率的电流可以不抑制速度控制系统的频率，将端子电压矢量控制为端子电压指令矢量的PWM电路13，功率转换器70等。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2011067066A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2011067066A
公开(公告)日：2011-03-31
申请号：JP2009217659
申请日：2009-09-18
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： KURODA TAKASHI , MATSUMOTO YASUSHI , NOMURA HISAFUMI , ITOIGAWA NOBUO
IPC分类号： H02P6/18 , H02P21/00 , H02P27/04 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a controller for controlling an embedded permanent magnet type synchronous motor to stably operate at a low speed even under a heavy load.
SOLUTION: The controller has a magnetic flux observer 26, an angular velocity estimator 23, a velocity estimator 23, and a magnetic position calculator 24. The controller estimates the speed of a motor 1 and an angle of the γ-axis from a q-axis inductance set value for control corresponding to the q-axis inductance of the motor 1 and a current detection value and a voltage command value of the γ-, δ-axes, by defining a d-axis as an N-pole direction of a rotor of the permanent magnet type synchronous motor 1 having no magnetic pole position detector, a q-axis as a direction that leads by 90 degrees from the d-axis and γ-, δ-axes as estimated axes in control corresponding to the d-, q-axes, while defining the voltage and current of the motor 1 as a vector on the γ-, δ-axes. Further, the controller has a q-axis inductance setting device 27 for setting the q-axis inductance so that disturbance caused by an error in estimation of speed between an estimated speed value included in the angle of the γ-axis and an actual speed may be zero or almost zero.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制嵌入式永磁同步电动机的控制器，即使在重负载下也能以低速稳定地操作。
解决方案：控制器具有磁通量观测器26，角速度估计器23，速度估计器23和磁位置计算器24.控制器估计电动机1的速度和γ轴的角度通过将d轴定义为N极，用于与电动机1的q轴电感相对应的控制的q轴电感设定值和γ，δ轴的电流检测值和电压指令值不具有磁极位置检测器的永久磁铁式同步电动机1的转子方向，作为与d轴成90度的方向的q轴，作为对应于 d轴，q轴，同时将电动机1的电压和电流定义为在γ，δ轴上的矢量。此外，控制器具有用于设定q轴电感的q轴电感设定装置27，使得由包括在γ轴的角度的估计速度值与实际速度之间的速度估计误差引起的干扰可以为零或几乎为零。版权所有（C）2011，JPO＆INPIT

9. 发明专利

JP2011024281A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2011024281A
公开(公告)日：2011-02-03
申请号：JP2009164449
申请日：2009-07-13
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , KURODA TAKASHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To accurately calculate the position of the magnetic pole of a rotor by accurately estimating the resistance of an equivalent armature in a sensorless controller for a permanent magnet type synchronous motor.
SOLUTION: In the controller including an armature resistance estimator 41, a speed estimator 31 and an electrical angle computer 32, the armature resistance estimator 41 includes a computer 110 which calculates an error in an equivalent armature resistance estimate on the basis on a voltage equation for a motor 80, a means comprising an inversion amplifier 111 for calculating the equivalent armature resistance correction by amplifying the error, a subtractor 112, a gain, an integrator 113, etc., an adder 115 which calculates an equivalent armature resistance estimate by adding up the initial set value of the equivalent armature resistance and the equivalent armature resistance correction, and first and second weight coefficients for controlling the gain of the means for calculating the equivalent armature resistance correction according to the current detection value and the speed estimate of the motor 80.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：通过精确估计永磁式同步电动机的无传感器控制器中的等效电枢的电阻，精确地计算转子的磁极的位置。解决方案：在包括电枢电阻估计器41，速度估计器31和电角度计算机32的控制器中，电枢电阻估计器41包括计算机110，计算机110基于用于电动机80的电压方程式，包括用于通过放大误差来计算等效电枢电阻校正的反相放大器111，减法器112，增益，积分器113等的装置，其计算等效电枢电阻估计通过加上等效电枢电阻和等效电枢电阻校正的初始设定值，以及用于根据当前检测值和速度估计值控制用于计算等效电枢电阻校正的装置的增益的第一和第二加权系数电机80.版权所有（C）2011，JPO＆INPIT

10. 发明专利

JP2009284557A Controller for permanent magnet type synchronous motor 有权
标题翻译：永磁同步电机控制器
公开(公告)号：JP2009284557A
公开(公告)日：2009-12-03
申请号：JP2008130791
申请日：2008-05-19
申请人： Fuji Electric Systems Co Ltd , 富士電機システムズ株式会社
发明人： NOMURA HISAFUMI , MATSUMOTO YASUSHI , KURODA TAKASHI , ITOIGAWA NOBUO
IPC分类号： H02P21/00 , H02P27/04
摘要： PROBLEM TO BE SOLVED: To calculate the magnetic pole position and speed of a rotor with high accuracy by a controller for a permanent magnet type synchronous motor having no magnetic pole position detector. SOLUTION: The controller for the permanent magnet type synchronous motor having no magnetic pole position detector includes: a magnetic flux observer 31 for capturing each of the current, voltage and magnetic flux of a motor as a vector, and estimating an expanded magnetic flux generated in the magnetic pole direction of the rotor from the current detection value, terminal voltage value and estimated speed value of the motor; an angle calculator 32 for calculating an angle of the expanded magnetic flux estimated value; a speed estimator 33 for amplifying the angle of the expanded magnetic flux estimated value to calculate an estimated speed value; and an electric angle calculator 34 for amplifying the estimated speed value to calculate the magnetic pole position estimated value. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：通过不具有磁极位置检测器的永磁式同步电动机的控制器，高精度地计算转子的磁极位置和速度。解决方案：不具有磁极位置检测器的永久磁铁式同步电动机的控制器包括：磁通量观测器31，用于捕获电动机的电流，电压和磁通量作为矢量，并估计扩展磁从转子的磁极方向产生的磁通量从电流检测值，端子电压值和电机的估计转速值产生; 用于计算扩大磁通估计值的角度的角度计算器32; 用于放大扩大磁通量估计值的角度以计算估计速度值的速度估计器33; 以及用于放大估计速度值以计算磁极位置估计值的电角度计算器34。版权所有（C）2010，JPO＆INPIT

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