Control device for AC motor
An overmodulation PWM control unit includes a voltage amplitude calculating unit for calculating a voltage command amplitude of an original voltage command based on current feedback control, a voltage amplitude correcting unit for performing linear compensation on the voltage command amplitude so that a fundamental amplitude of a pulse width modulation voltage provided from an inverter may match the original voltage command amplitude, and a harmonic determining unit for determining presence or absence of superimposition of a three-order harmonic component on a phase voltage command. The harmonic determining unit performs switching between presence and absence of the three-order harmonic component based on transition of the original voltage command amplitude to avoid passing through a change point where discontinuity occurs in the voltage amplitude characteristics representing a relationship between a fundamental amplitude obtained in advance for each of the cases of presence and absence of the superimposition of the three-order harmonic component and the voltage command amplitude required for achieving the fundamental amplitude.
1. A control device for an AC motor receiving a voltage controlled by an inverter, comprising:
a current sensing unit for sensing a current flowing between said inverter and said AC motor; and
an overmodulation PWM control unit for controlling a pulse width modulation voltage provided from said inverter to said AC motor based on a voltage comparison between a phase voltage command having an amplitude exceeding a voltage amplitude of a carrier and said carrier, wherein
said overmodulation PWM control unit includes:
a voltage command producing unit for producing d- and q-axis voltage commands according to a deviation between a current command (Idcom, Iqcom) of said AC motor and an actual current based on a sensed value of said current sensing unit to eliminate said deviation,
a voltage amplitude calculating unit for calculating an original voltage command amplitude based on original d- and q-axis voltage commands produced by said voltage command producing unit,
a voltage amplitude correcting unit for correcting said d- and q-axis voltage commands such that a fundamental amplitude of said pulse width modulation voltage matches said original voltage command amplitude, and
a voltage command converting unit for converting the d- and q-axis voltage commands corrected by said voltage amplitude correcting unit to said phase voltage command;
said voltage amplitude correcting unit calculates a required correction rate with respect to said original voltage command amplitude according to preset voltage amplitude characteristics representing a relationship between said fundamental amplitude and a voltage command amplitude required for achieving said fundamental amplitude, and calculates the corrected d- and q-axis voltage commands based on the corrected voltage command amplitude produced by correcting said original voltage command amplitude according to the required correction rate;
said voltage amplitude characteristics include first and second amplitude characteristics being set independently of each other according to presence and absence of superimposition of a three-order harmonic component on said phase voltage command converted by said voltage command converting unit; and
said overmodulation PWM control unit further includes a harmonic determining unit for determining the presence and absence of the superimposition of the three-order harmonic component on said phase voltage command converted by said voltage command converting unit, based on said first and second amplitude characteristics and said original voltage command amplitude calculated by said voltage amplitude calculating unit.
2. The control device for the AC motor according to claim 1 , wherein
said harmonic determining unit switches the control to the control without the superimposition of said three-order harmonic component when said original voltage command amplitude approaches, to a predetermined degree or more, a change point where linear characteristics of said required voltage command amplitude with respect to said fundamental amplitude becomes discontinuous on said first amplitude characteristics while the control with the superimposition of said three-order harmonic component is being performed, and switches the control to the control with the superimposition of said three-order harmonic component when said original voltage command amplitude approaches, to a predetermined degree or more, the change point on said second amplitude characteristics while the control without the superimposition of said three-order harmonic component is being performed.
3. The control device for the AC motor according to claim 2 , wherein
said harmonic determining unit includes:
a change point storage unit for storing in advance said change point, on said first and second amplitude characteristics,
a transition degree calculating unit for calculating a transition degree representing a present value of said voltage command amplitude and a changing direction, and
an approach determining unit configured to change a present state about the presence and absence of the superimposition of said three-order harmonic component, based on said transition degree calculated by said transition degree calculating unit and said change point stored in said change point storage unit, when a difference between said original voltage command amplitude at the present time and the voltage amplitude corresponding to said change point is smaller than a first predetermined value.
4. The control device for the AC motor according to claim 3 , wherein
said first predetermined value is variably set depending on the change speed of said original voltage command amplitude.
5. The control device for the AC motor according to claim 1 , wherein
while the control with the superimposition of said three-order harmonic component is being maintained, said harmonic determining unit gradually increases the amplitude of said three-order harmonic component to a predetermined upper limit when a difference between said original voltage command amplitude and a voltage amplitude corresponding to a change point where linear characteristics of said required voltage command amplitude with respect to said fundamental amplitude becomes discontinuous on said first amplitude characters is larger than a second predetermined value, and gradually decreases the amplitude of said three-order harmonic component when said difference is equal to or smaller than said second predetermined value.
6. The control device for the AC motor according to claim 1 , wherein
said overmodulation PWM control unit further includes a synchronous PWM control unit for synchronizing the phase of said phase voltage command provided from said voltage command converting unit with the phase of said carrier,
said synchronous PWM control unit synchronizes the phase of said phase voltage command with the phase of said carrier to determine variably a synchronization number that is a frequency of said carrier per period of said phase voltage command, according to a rotation speed of said AC motor, and
said first and second amplitude characteristics are set in advance corresponding to said synchronization number.