Meidensha Corporation

Yugo Tadano

Takashi Yamaguchi

Toru Kakebayashi

Kazunobu Oi

Takao Akiyama

Shota Urushibata

Masakatsu Nomura

A low-frequency torque controlleroutputs a low-frequency torque controller output &#x3c4;* based on a torque command value &#x3c4;* and a torque detection value &#x3c4;, and a vibrational torque controlleroutputs a vibrational torque command value &#x3c4;* based on the torque command value &#x3c4;*, the torque detection value &#x3c4;, and a rotational phase detection value &#x3b8;. Meanwhile, in a high-frequency resonance suppression controller, an inverter torque command value &#x3c4;* is outputted based on the torque detection value &#x3c4;and a corrected torque command value &#x3c4;* obtained by adding the low-frequency torque controller output &#x3c4;* to the vibrational torque command value &#x3c4;*. The invention thus provides shaft torque vibrational control of a motor drive system wherein engine vibrational torque command values including distortion components are tracked while entirely removing the influence of resonance, non-periodic disturbances, and periodic disturbances.

Motor drive system

A control system comprising a feedback controllerfor determining an operation amount u in a control-implemented system based on a command value r*, a detection value y of the control-implemented system and phase information &#x3b8; for the control-implemented system, wherein the feedback controllerhas a periodic disturbance suppression controllerfor outputting a periodic disturbance compensation signal r* based on the detection value y and the phase information &#x3b8;; and a resonance/disturbance suppression controllerfor calculating the operation amount u based on the detection value y and a corrected command value r obtained by adding the periodic disturbance compensation signal r* to the command value r*. The periodic disturbance suppression controlleruses a generalized periodic disturbance observer. In the control system, resonance, non-periodic disturbances and periodic disturbances are all suppressed in order to raise the system control performance.

Feedback control system with periodic disturbance suppression and resonance/disturbance suppression using &#x3bc;-synthesis

A periodic disturbance suppressing control apparatus is designed to estimate and correct an inverse model of a transfer characteristic of a real system successively even in case of large condition change in the real system, and to realize a stable control system. A periodic disturbance of an object to be suppressed is outputted as a sensed periodic disturbance ISdn, ISqn of a direct current component. A difference between a signal obtained by multiplication of the sensed periodic disturbance ISdn, ISqn with a multiplier using a reciprocal Qn of a transfer characteristic, and a signal obtained by adding only a detection delay to a periodic disturbance suppressing command I*dn, I*qn, to estimate the periodic disturbance dI^dn, dI^qn. Thee periodic disturbance suppressing command is calculated by calculating a deviation between the estimated periodic disturbance dI^dn, dI^qn. A learning control sectioncorrects the reciprocal Qn of the transfer characteristic in accordance with a quantity obtained by diving a difference of the periodic disturbance suppressing command I*dn, I*qn during one sample interval by a difference of the sensed periodic disturbance during the one sample interval.

Periodic external disturbance suppression control device

Periodic disturbance occurs in current etc. due to offset error and gain error of a current sensor used in a control device. A voltage command value is generated from a current command value and a current detection value by the current sensor in a current control section. The generated voltage command value is inputted to a plant model section, and a virtual current value is calculated. The virtual current value is inputted to a periodic disturbance observer via a coordinate transform section, and a compensation value is calculated. The compensation value is superimposed on the current detection value via a coordinate inverse-transform section, and the current detection value of the current sensor is corrected.

Control device

In torque pulsation suppressing control in apparatus using battery as main power source, with feedforward table, there arises compensating table error due to voltage fluctuation by battery internal resistance, depending on load power. In system where compensating values for suppressing torque pulsation are collected beforehand in the form of compensating table, and the torque pulsation of each frequency component is suppressed by the torque compensating quantity determined by inputting torque command and sensed rotational speed, the system senses main power source voltage of controlled object, and to perform compensation by outputting the torque compensating quantity dependent on the voltage by inputting into the compensating table corresponding to voltage. Furthermore, a compensation correcting section corrects torque compensating quantity Tcn determined by the sum of output Ta of real part compensating table and quantity jTb of imaginary part compensating table, with predetermined table or proportional expression depending only on voltage.

Automatic suppression device for cyclic disturbance

In suppression of torque ripple with a periodic disturbance observer, adjustment of a gain portion is determined sequentially during monitoring operation of monitoring an operating condition. Therefore, many adjusting parameters are involved and achievement of correction is dependent on the skill of a person in charge of adjustment or design. The periodic disturbance observer is provided with a model correcting means or section which calculates an error of an identification model by using a time difference quantity by an output of the periodic disturbance observer and a sensed value of a plant and corrects the identification model with the error of the identification model. Finally, the system performs the torque ripple suppression control with an accurately estimated periodic disturbance.

Periodic disturbance automatic suppression device

In a torque ripple suppression control effected by a periodicity disturbance observer, it is necessary to consider plant fluctuation and fluctuation of plant characteristics caused by over time usage. Thus, improvement for robustness to an identification model error has been required. For fulfilling this requirement, there is provided a system that includes a phase correction amount calculation portionthat derives a phase correction amount by calculating a phase of a vector trajectory drawn by a frequency component of the periodicity disturbance, a gain correction amount calculation portionthat derives a gain correction amount by calculating a progress speed of the vector trajectory drawn by the frequency component of the periodicity disturbance and comparing the calculated progress speed with a threshold value and a rotation vector calculation portionthat derives a system identification model correction value by multiplying the phase correction amount by the gain correction amount and corrects the system identification model of a periodicity disturbance observer portionbased on the system identification model correction value.

Periodicity disturbance suppression device and periodicity disturbance suppression method

A current control unit takes a deviation between a current command value and a current flowing through an inverter of a power conversion device, and controls the inverter based on the deviation. A harmonic sensing part receives input of an output current of an AC filter, and outputs a predetermined order harmonic of the input current in a direct current value form. A disturbance observer estimates the disturbance of the harmonic based on the output current and a coefficient defined as an inverse function of a transfer function from harmonic suppression current command value to filter output current detection value. A harmonic suppression control unit takes the deviation between the estimated harmonic disturbance and a disturbance command value that suppresses the disturbance, and calculates a harmonic suppression current command value. The harmonic suppression current command value is superimposed on the current command value of the current control unit.

Harmonic current suppression method and harmonic current suppression device of power conversion device

A motor drive device including a battery; switching elementsandwhich are connected in series with a condenser Chaving a voltage Vdc resulting from an increase action of battery voltage and which are operated in a chopper control; a reactor Lwhose one end is connected with a common connection point of the switching elementsand; and an inverterfor driving a PM motorwhich is connected between another end of the reactor Land a negative-pole terminal of the battery. In such a motor drive device, an electrical power W is determined based on the voltage Vdc of positive-side point P of the condenser C, a current Idc flowing in the reactor L, and a switching duty dof the switching elementwhich satisfies a condition of 0&#x2266;d&#x2266;1, i.e., is determined by calculating Vdc&#xb7;d&#xb7;Idc.

Electrical power control device and electrical power calculation method in electrical power control device

Disclosed is a current source inverter device which controls the power factor in an arbitrarily configurable manner without a magnetic pole position detector. The device is provided with a current source inverter; a motor supplied with alternating current power from the current source inverter; and a control means which detects the terminal voltage of the motor, calculates the motor's internal induced voltage and the motor current that flows in the motor based on the detected terminal voltage, and controls the current source inverter. The control means calculates the phase difference (&#x3b8;c) between the terminal voltage and the motor current, the phase difference (&#x3b8;x) between the motor current and the internal induced voltage, and the phase difference (&#x3b8;v) between the terminal voltage and the internal induced voltage. An adjustment angle (&#x3b8;&#x3b1;), which is the error in the phase difference between the motor current and the internal induced voltage when the set value of the phase difference (&#x3b8;x) is &#x3b8;y, is obtained from the conditional equation &#x3b8;&#x3b1;=&#x3b8;v&#x2212;&#x3b8;y&#x2212;&#x3b8;c.

Current source inverter device

A periodic disturbance observer determines real part I^and imaginary part I^of an estimated current including a periodic disturbance, from value of identification identifying a system transfer function of an nth order torque ripple frequency component from a command torque to a detected torque value, with a one-dimensional complex vector having a real part P^and an imaginary part P^, a cosine coefficient T, a sine coefficient T, and the real part P^and imaginary part P^of the system transfer function; subtracts command compensating current I* and I* obtained through pulsation extracting filter G, respectively, from the real part I^and imaginary part I^of the estimated current, and thereby determines estimated periodic disturbance current real part dI^and imaginary part dI^to cancel the periodic disturbance current.

Torque ripple suppression control apparatus and torque ripple suppression control method for rotating electrical machine

[Problem] To provide a space vector modulation method for a matrix converter which uses only one carrier for three phases when a carrier comparison is made. [Means for solving problem] Provided is a matrix converter space vector modulation method in which bidirectional switches (SWthrough SW) of a matrix converter () are PWM controlled in a space vector modulation from a multi-phase AC power source. Switching patterns for which virtual indirect space vectors are used are converted into switching patterns for which direct conversion space vectors constituted by five vectors are used. Any one of the converted switching patterns satisfying predetermined conditions is selected and duties of the five vectors of the selected switching pattern are calculated using duty relationship equations between the virtual indirect conversion space vectors and the direct conversion space vectors. Then, the matrix converter is PWM-controlled on a basis of the calculated duties.

Matrix converter space vector modulation method

[Object] The present invention provides a space vector modulation method for an AC-AC direct conversion device, which can convert input and output waveforms into sine waves and reduce the number of times of switching at an inter-sector shift. [Means to Solve] A vector state in which a line voltage of multi-phase AC output is expanded onto a two-phase static &#x3b1;&#x3b2; coordinates is defined. Simple harmonic oscillation vector axes of a sector where an output voltage command value vector Vo* exists are defined as an X axis and a Y axis. Maximum/middle/minimum vectors in each axis, a zero vector that is an intermediate voltage of a phase voltage, and one rotation vector that is present in the sector, are set as base vectors. A switching selection pattern formed by a combination of four vectors among these vectors, which satisfies predetermined conditions, is determined by a selection means. On the basis of power source voltage information and output current information, an inverse matrix operation for the four vectors is executed by a duty operation means, and a duty solution of the four vectors is determined, then the input and output waveforms are simultaneously converted into the sine waves by the determined duties.

[Task] A high-speed driving is possible, a utilization of a power supply having a low voltage is possible, and a regeneration is easy to be carried out. [Means to solve the task] A first buck-boost chopper portion is provided on an output side of a batteryto boost a voltage across batteryduring a drive of a motor, a second buck-boost chopper portion is provided on an output side of the first buck-boost chopper portion to boost the voltage from an inverter portionduring a regeneration, inverter portionof a 120-degree conduction current source inverter is provided on the output side of the second buck-boost chopper portion, and a motoris provided on an output side of inverter portion

Motor drive

[Problem] In a pseudo-current source inverter which drives a motor at a high speed, a current phase adjustment is assured and facilitated to perform a field-weakening control or suppress a terminal voltage saturation at a time of the high-speed motor drive. [Means For Solving Problem] A phase advance correction is carried out for a magnetic flux phase information from which a 120 degree conduction pattern is obtained with a motor terminal voltage as a reference phase. The phase advance correction includes the correction of differentiating the terminal voltage detection signals of the motor, the adjustment of enlarging the phase advance correction quantity in a case where the motor load current is large, and delays the gate signals of the 120 degree conduction pattern in accordance with the speed estimation value through a delay counter and carries out the phase advance correction as the rising edge timing of the subsequent gate signal at the subsequent step phase. Furthermore, the error correction is carried out for the phase advance correction quantity in accordance with a variation tendency of the speed estimation value and a detection value of a direct current of the inverter.

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Tokyo, Japan

Yugo Tadano