JPH10146100A - Radial direction rotating body position controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a radial direction rotating body position controller which can stably control an electromagnetic rotating machine having a magnetic bearing function even under the normal condition, loading condition and transitional condition. SOLUTION: A vector control system 40 generates, depending on the current running condition, a magnetic flux amplitude Ψ0 or energizing current command i0 . These amounts are inputted to a non-interfering block 49 for row and column arithmetic operation by the sine wave and cosine wave. Moreover, when a magnetic flux amplitude increases or decreases, a loop gain can be adjusted. As a result, since the magnetic flux amplitude is kept at a constant value with a vector control system in addition to the normal condition of motor, stable operation of motor can be realized even under the transitional condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radially rotating body position control device for controlling an electromagnetic rotating machine (including a motor and a generator) having a magnetic bearing function, and particularly to a steady state, a load, and a transient state. The present invention relates to a radial rotation body position control device capable of stably controlling a spindle.

[0002]

2. Description of the Related Art In recent years, there has been an increasing demand for high-speed and high-output electric motors used for machine tools, turbo molecular pumps, flywheels and the like. The relevant documents are described as follows: (1) Fumio Matsumura, "Magnetic bearings and their interconnecting technologies I. Controlled magnetic bearings and their applications", IEICE D, vol.114, pp.1200-120
7, 1994 (2) Ota, Ando `` High-frequency internal grinding spindle with 200,000 rpm '' Machinist vol.29, no.2, 1985, pp.32-36 (3) Matumura, F., Fujita, M. and Ozaki, Y., "Char
acteristic of Frictionon Magnetic Bearings ", Proc.
of International Conference on Electric Machine
(ICEM) 1988 vol.3, pp.331-335 (4) Harbermann, H. and Liard, GL, "An Active Magn
etic Bearing System ", Tribology International Apr.
1980 pp.85-89 (5) Fumio Matsumura, `` Controlled Magnetic Bearings and Its Applications, '' Transactions of the Institute of Electrical Engineers of Japan, commentary, vol.114D, no.12, 1994, pp. 1200-1207 (6) G. Schweitzer, H. , "Active Magnetic Bearings", Hoc
hschulverlag AG 1994 ISBN 3 7281 2132 0 (7) Harbermann, H. and Liard, GL, "Practical Magn
etic Bearings "IEEE, Spectrum, Sept. 1979, pp.26
-30 (8) Maslen, EH, etal, "Magnetic Bearing Design fo
ra High Speed Rotor ", Proc. of the 1st International
al Symposium on Magnetic Bearings, June 1988 pp.
There are 137-146.

[0003] In these high-speed machines, magnetic bearings are being applied in order to solve problems such as speed limitations and maintenance of bearings. The size of the magnetic bearings tends to be large in order to generate sufficient force and may in fact be equal to the shaft length of the electric motor. Therefore, the shaft length of the main shaft becomes long, and elastic vibration of the main shaft generated at the time of high-speed rotation becomes a problem, and it is not easy to realize high-speed rotation. further,
To increase the output, it is necessary to increase the shaft length of the motor. Then, since the attraction force generated by the electromagnetic machine increases, the size of the magnetic bearing also needs to be large. As a result, the dangerous speed is reduced, and it is extremely difficult to increase the speed. An electromagnetic rotating machine with a radial position control winding is to realize a high speed and high output by shortening the shaft length by integrating a magnetic circuit of a motor and a magnetic circuit for generating a radial force. Further, a radial force required for controlling the position of the rotor is generated by using an exciting magnetic flux of the electric motor.

FIG. 7 shows the configuration of an electromagnetic rotating machine with a radial position control winding which has already been proposed by the applicants (Japanese Patent Laid-Open No. 193535/1990). There are two units of the electromagnetic rotating machine with the radial position control winding, and one unit is connected to the three-phase inverter for the current control of the radial position control winding of the electromagnetic rotating machine with the radial position control winding. Have been. A unit of an electromagnetic rotating machine with two radial position control windings is used to generate torque as an electric motor.
A pole winding and a rotor for generating a radial force on the rotor.
The pole winding is wound. As described above, the torque and the radial force can be generated by one machine, so that the shaft length can be reduced as compared with a general high-speed motor equipped with a magnetic bearing. Promising Electromagnetic rotating machines with several radial position control windings have already been proposed. Next, the relevant literature is described in (9) Bosch, R., "Development of a Bearingless Electr
ic Motor ", Proc. of ICEM'88 vol.3, pp.331-335 (10) Salazar, AO, Dunford, W., Stephan, R. and
Watanabe, E., "A Magnetic Bearing System using C
apacitive Sensors for Position Measurement ", IEEE T
rans.on Magnetics vol.26, no.5, 1990 pp.2541-2
543 (11) Higuchi, "Application of Magnetic Levitation Technology to FA" Symposium S.9-6, 1989 IEEJ National Convention (12) Hiromasa Fukuyama (Nippon Seiko) "Magnetic bearing motor" published patent publication (A) Sho64 −55031 (13) Kazuto Sakai (Toshiba) “Self-floating motor system” published patent publication (A) Hei 4-236188 (14) Masao Inoue (Mitsubishi Electric) “Magnetic bearing device” published patent publication (A) Hei 4- 107318.

In reference (9), an axially acting force is generated by changing the exciting magnetic flux to adjust the axial position of the disk type electric motor. It seems to be applicable to a disk type rotating machine, but it is difficult to apply to a widely used radial type rotating machine. On the other hand, the literature (10) attempts to control a radial position of a rotor by generating a radial force by imbalance of a winding current of a general induction motor. However, there is a problem that a radial force cannot be generated in principle when the rotor is located at the center. Documents (11) and (12) merely share the magnetic path of a conventional magnetic bearing and the magnetic path of a stepping motor, and are suitable for low-speed actuators. However, it is not suitable for high-speed rotation and high-power applications because the structure requires an extremely large number of poles. Further, it is difficult to apply the present invention to a rotating machine having a sinusoidal magnetomotive force distribution and a magnetic flux distribution often used for a high-power generator, an induction machine, a permanent magnet type electric motor, and the like. Literatures (13) and (14) propose a structure that reduces the number of poles and is similar to a conventional induction machine or permanent magnet type rotating machine. In the literature (13), a 4-pole concentrated winding is applied to a stator having eight teeth, such as a stator core of a 4-phase switched reluctance machine, and this is divided by each magnetic pole. Are controlled independently. In addition to generating a rotating magnetic field, a radial force can be generated depending on the strength of the magnetic flux of each magnetic pole. Document (14) also has a similar iron core structure, but is characterized in that the winding is distributed winding and a magnetomotive force distribution closer to a sine wave distribution. However, in the literatures (13) and (14), since the four-divided windings are individually driven, one unit that generates a radial force and torque in two orthogonal axes is used. Requires a single-phase inverter and 16 wirings. Further, since the radial force control and the torque control are performed by the same winding current, an extremely high-speed, high-precision, large-capacity current driver is required.

The applicants have already reported in the Institute of Electrical Engineers of Japan or the Institute of Electrical Engineers of the United States (IEEE) that an electromagnetic machine in which a four-pole rotating machine is wound with two poles can generate a radial force. I have. Next, the literature is described as follows: (15) Akira Chiba, Kouji Chida and Tadashi Fukao, "
Principle and Characteristics of a Reluctance Moto
r with Windings of Magnetic Bearing ", Internationa
l Power Electronic Conference Record (IPEC) Tokyo,
pp.919-926, 1990 April 5 (16) Akira Chiba, MARahman and Tadashi Fukao "Rad
ial Force in a Bearingless Reluctance Motor ", IEEE
Transaction on Magnetics, vol.27, No.2, pp.786-7
90 1991 March (17) Akira Chiba, Desmond T. Power and MARahman,
"Characteristics of aBearingless Induction Moto
r ", IEEE Transaction on Magnetics Vol.27, No.6,
September pp.5199-5201, 1991 (18) Sigehiro Nomura, Akira Chiba, F. Nakamura, K.
Ikeda, T. Fukao and M.A.Rahman, "A Radial Position
Control of Induction type Bearingless Motor Consi
dering Phase Delay by the Rotor Squirrel Cage "IEE
E, Power Conversion Conference (PCC-Yokohama) Apr
il 21, 1993 pp.438-443 IEEE 93TH0406-9 (19) Akira Chiba, Koichi Ikeda, Fukuzo Nakamura, Tazumi Dodo, Tadashi Fukao,
MA Rahman, "Principle of Radial Force Generation in No Load of Bearingless Motor with Cylindrical Rotor", Transactions of the Institute of Electrical Engineers of Japan
D, vol.113, no.4, pp.539-547, 1993 (20) Akira Chiba, Tazumi Deido, Tadashi Fukao and
MARahman, "An Analysis of Bearingless ac Motor
s ", IEEE Transaction on Energy Conversion, vol. 9,
no.1, March, 1994, pp.61-68 (21) Atsuhiro Nomura, Akira Chiba, Fukuzo Nakamura, Tadashi Fukao `` Phase Compensation for Radial Force Control of Cage-Type Induction Motor Type Bearingless Motor, '' IEE of Japan. IEA-93-37,
pp.85-94, 1993, 12/14 Osaki Kaikan (22) Masahide Oshima, Satoru Miyazawa, Tazumi Dodo, Akira Chiba, Fukuzo Nakamura,
Tadashi Fukao "Basic characteristics of permanent magnet type bearingless motor"
The Institute of Electrical Engineers of Japan Linear Drive Workshop LD-94-17, pp.57-66, 2
/ 25, Asakusabashi Training Center In this, a 2-pole winding is added to the stator of a 4-pole rotating magnetic field type synchronous reluctance machine, so that the rotating magnetic field is unbalanced and the radial force is increased together with the torque. An electromagnetic rotating machine with a new radial position control winding is proposed. In addition, we report the analysis method, modeling method, and optimal rotor structure of electromagnetic rotating machine with radial position control winding using permanent magnet type rotor.

The features of the method proposed by the applicants are as follows: (1) In order to generate a radial force of two orthogonal axes and a torque, if three-phase winding is used, six wires and two units are used. Only a three-phase inverter is required. (2) Since the winding for generating the radial force and the winding for generating the torque are separated, the inverter or the power amplifier for controlling the radial force has a small power capacity. (3) Since four-pole and two-pole windings are used, mutual coupling becomes zero if the rotor is located at the center, and no induced voltage of the motor is generated in the radial force control winding. (4) It can be widely applied to high-power rotating machines assuming sinusoidal magnetomotive force distribution and sinusoidal magnetic flux distribution, such as induction machines, permanent magnet synchronous machines, and synchronous reluctance motors. And so on.

FIG. 8 shows the principle of generation of a force acting in the radial direction of the rotor. 4-pole winding N ₄ , 2-pole winding N ₂ ,
Is applied to the stator to generate a quadrupole magnetic flux Ψ ₄ and a bipolar magnetic flux Ψ ₂ . The stator 4-pole windings N ₄ for generating a torque is applied. Now, the rotor may have in the center of the stator, the positive direction of the current quadrupole symmetry flux [psi ₄ occurs when flowing through the 4-pole winding N _4. A four-pole rotating magnetic field is generated by passing a two-phase alternating current through a four-pole N ₄ winding and a four-pole winding (not shown) orthogonal to the four-pole N ₄ winding. Alternatively, it may be a three-phase winding as already reported.
If a squirrel-cage winding is applied to the rotor, a torque is generated in the rotor as a normal squirrel-cage induction machine. In addition, a four-pole permanent magnet rotor generates torque as a normal permanent magnet motor.

The stator is provided with a two-pole winding N ₂ for generating a force acting in the radial direction of the rotor, in addition to a four-pole winding serving as a normal motor winding. I have.
Now, when a current flows in the positive direction of the N ₂ winding, the magnetic flux of two poles Ψ ₂
Occurs. In the gap at the bottom of the paper of the rotor, the direction of the magnetic flux due to the current of the four-pole winding is opposite to the direction of the magnetic flux of the two-pole winding. Therefore, the magnetic flux density decreases in this gap. On the other hand, the gap at the top of the rotor
Since the direction of the magnetic flux of the poles and the direction of the magnetic flux of the two poles match, the magnetic flux density increases. When the magnetic flux distribution becomes unbalanced in this way, a radial force F acting on the rotor in the upward direction on the paper surface is generated. The magnitude of this radial force can be adjusted by controlling the magnitude of the current flowing through the bipolar winding. Further, in order to reverse the direction of the radial force, the direction of the current of the bipolar winding may be reversed. On the other hand, in order to generate a force in the horizontal direction of the paper, a two-pole winding perpendicular to the N ₂ winding may be applied and its current may be adjusted. By adjusting the magnitude and direction of the currents of the two-pole windings orthogonal to each other in this manner, it is possible to generate a desired magnitude and direction radial force.

In FIG. 8, the four-pole winding is used for driving a motor, and the two-pole winding is used for radial position control. The four-pole winding is used for generating a radial force and the two-pole winding is used for driving a motor. It is also possible. An electromagnetic rotating machine with a radial position control winding, in which such a stator is wound with four poles and two poles, was proposed in the 1970's (23) "Radial Active Magnetic Bearing Having a Rotat".
ing Drive ", Patent Specification 1 500 809, 1975, is the first to the applicant's knowledge, but at that time semiconductor power conversion circuits were expensive and high-speed current control was difficult. In addition, digital controllers for performing complicated calculations have not been developed, and vector control of an electric motor is extremely difficult, and control of instantaneous magnetic flux and instantaneous torque current is impossible.

[0011] Thereafter, the applicants are disclosed in the patent documents (24) Akira Chiba and Tadashi Fukao, “Electromagnetic rotary machine with a radial rotating body position control device using a rotating magnetic field of an electric motor”, Japanese Patent Application Laid-Open (A) Hei 2-195347. In this way, by combining the vector control theory of digital controllers, semiconductor power converters, and motors that have developed since then, by applying detailed modeling and applying control rules based on that model, this type of motor can be Made it possible. Since then, research and development have been carried out at the Newfoundland Memorial University in Canada, the Swiss Institute of Technology (ETH), and Ibaraki University. The following is the relevant literature: (24) J. Bichsel, "The Bearingless Electrical Machin
e ", NASA-CP-3152-PT-2, pp.561-573, 1992 (25) Dejima, Okada, Oishi" Study on Magnetically Levitated Rotary Motor "4th Symposium of the Institute of Electrical Engineers, Electromagnetics-related dynamics There is a collection pp.251-260.

[Problems to be Solved by the Invention] However, when a steady load is applied to the induction motor type bearingless motor, as the slip s increases, the four-pole motor current I
_4s ends up decreasing exciting component current I _m for generating a radial force flows into the secondary side rotor, thereby also delayed simultaneously exciting component current phase. For this reason, mutual interference occurs between the command values Fα ^* and Fβ ^* of the radial force, and the magnetic support operation becomes unstable, and in the worst case, touchdown occurs. FIG. 9 shows an equivalent circuit viewed from the winding terminal of the four-pole motor. In FIG. 9, each motor constant R ₁ is the primary winding resistance,
R ₂ / s is secondary resistance, l is the leakage inductance, Lm is the magnetizing inductance, Rm is an iron loss resistance. When the slip is small, the value of the secondary resistance R ₂ / s is large.
Pole motor current I _4s flows into the inductance L _m. Therefore I _4s and I _m are also consistent equal phase size.
However, as the slip increases, the resistance R on the secondary side increases.
₂ / s value becomes smaller I _4s is I _4r is increased flows into I _4r. On the other hand, I _m decreases, the phase is delayed. It is clear that drawing the _Bom diagram of I _m / I _4s causes a phase delay and reduces the exciting current component.

[0013] Since the radial force generated by the excitation current I _m, is the following phenomenon by phase reduces the size of I _m is delayed occurs. As shown in FIG.
Force command value F ^* to generate a radial force opposing
Are equal in magnitude in opposite directions when no load is applied. Therefore, Fα ^* = 0 and Fβ ^* = − F. On the other hand, when the phase delay occurs with I _m is decreased, the command value of the force F ^*
Is a command value that is larger than | F | and has a phase shifted by θ in the direction of α. Thus, the command value is automatically generated only in the range where the negative feedback at the radial position operates stably. From this phenomenon, it can be seen that in order to generate a radial force F in a certain direction, mutual interference occurs in the command values of the α and β axes depending on the load state. Mutual interference of the radial forces occurs because the phase of the four-pole motor exciting current does not match the phase and amplitude of the exciting current estimated by the two-pole radial position control system. Therefore, the theoretical value of mutual interference is obtained as follows. This will be described with reference to FIG.

That is, the relational expression of the inductance is such that the motor windings are a and b, the winding generating the radial force is α,
β. The currents in these windings are denoted by a suffix attached to i. Similarly, if the number of magnetic flux linkages is represented by λ,

(Equation 1) It can be expressed as. Here, L ₄ , L ₂ , and M are constants.

Now, the current matrix of Equation 1 is expressed as i ^t = (i _a , i _b , i
α, iβ), and the inductance matrix is L, the magnetic stored energy W _m is

(Equation 2) It is. Therefore, the α-direction component of power generated in the radial direction is
If Fα and β directions are Fβ

(Equation 3) Can be derived. At this time, the four-pole winding currents ia and ib on the two-phase shaft

(Equation 4) Assuming that the waveform is a sine wave, by substituting Equations 1, 2, and 4 into Equation 3, and deriving Fα and Fβ, the equations become extremely simple.

[0016]

(Equation 5) When the necessary radial forces Fα and Fβ are given, iα and iβ necessary to generate these forces can be obtained from Expression 6 immediately since the 2 × 2 matrix of Expression 5 is a unitary matrix.

[0017]

(Equation 6) It is. By realizing this relational expression in a control system in advance, Expression 7 is obtained.

(Equation 7) On the other hand, the radial forces Fα and Fβ generated inside the electromagnetic machine are
When I _4s = I _m , the currents of the u, v, and w phase motor windings are respectively

(Equation 8) When

(Equation 9) It is. Therefore, current I _m is 2θ delayed in proportion to I _4s, and became I _m / I _4s times. Then

(Equation 10) Since iα ^* = iα iβ ^* = iβ

[Equation 11] When calculated, the 2ωt term disappears and can be simplified,

(Equation 12) That is, due to the decrease in the exciting current of the induction machine and the phase delay, the radial force actually generated decreases with respect to the command value. Further, there is a possibility that interference represented by sin2θ may occur. The present invention has been made in view of such conventional problems, and provides a radial rotating body position control device capable of stably controlling an electromagnetic rotating machine having a magnetic bearing function even in a steady state, under a load, and in a transient state. The purpose is to do.

[0018]

In order to achieve the above object, according to the first aspect of the present invention, a motor winding having a plurality of poles wound on at least a stator and an independent motor winding are provided. An electromagnetic rotating machine with a radial direction rotating body position control winding having a rotor position control winding wound around a different number of poles from the motor winding, an electromagnetic rotating machine control means for controlling the motor winding, A radial rotary body position control device comprising: a rotor position control unit that detects a radial position of a main shaft of a rotor and controls the rotor position control winding so as to match a predetermined value. The control of the rotor position control winding by the rotor position control means is made non-interfering based on the primary angular frequency and the magnetic flux current amplitude extracted from the control means.

Here, the different number of poles may be different from a plurality of poles of the motor winding, and includes the case of increasing (for example, P + 2 pole) and the case of decreasing (for example, P-2 pole). Further, the present invention is an electromagnetic rotating machine having a radial direction rotating body position control winding having a magnetic bearing function, and is also applicable to an electric motor and a generator. The rotor position control winding is separated and independent from the motor winding, and a small amount of current is passed through the rotor position control winding while using the rotating magnetic field generated by the motor winding to control the radial position of the rotor. . When the primary angular frequency is clear in the feedforward control system, it can be synchronized with the rotating magnetic field by using this primary angular frequency for decoupling of the rotor position control winding. Become. For this reason, it is possible to stably control the spindle in the steady state, at the time of load, and at the time of transition.

Here, the electromagnetic rotating machine control means can be realized by a plurality of feedforward control systems.
As in the invention according to claim 2, the electromagnetic rotating machine control means is a control for making the voltage / frequency ratio substantially constant, and at least one of the main shaft slip, the exciting current command value and the primary angular frequency command value. An arithmetic circuit for calculating a primary current and a phase angle of the motor winding based on data; a three-phase current command value generating circuit for generating a three-phase current command value based on a result of the arithmetic circuit; And at least adjusting means for adjusting the voltage and frequency so that the current follows the current, and the control of the rotor position control winding can be made non-interfering based on the command value of the primary angular frequency. An arithmetic circuit calculates the primary current and the phase angle of the motor winding based on the main shaft slip, the exciting current command value and the primary angular frequency command value. By using the command value of the primary angular frequency at this time for decoupling control of the rotor position control winding, it is possible to synchronize with the rotating magnetic field. As a result, the spindle can be stably controlled.

In this control, stable control can be performed in a steady state. However, as in the third aspect of the present invention, the electromagnetic rotating machine control means is a vector control, and the rotation speed of the main shaft or the estimated value thereof is determined. An arithmetic circuit for calculating a primary current, a primary angular frequency, and a phase angle so as to make at least one of an excitation magnetic flux, a primary interlinkage magnetic flux, and a secondary interlinkage magnetic flux constant, an arithmetic circuit for calculating an instantaneous current value, a voltage amplitude, At least one of an arithmetic circuit for calculating a phase angle and at least a three-phase current command value generating circuit or a three-phase voltage command value generating circuit for generating a three-phase current command value based on a result of the calculating circuit; The control of the rotor position control winding can be made non-interfering based on the primary angular frequency and the magnetic flux amplitude or the exciting current amplitude. In the vector control, since the exciting current is kept at a constant value, no interference occurs in the radial force control system. In vector control, there are a flux feedforward type and a magnetic flux feedback type.In each case, the primary angular frequency is clear in the control system, and this primary angular frequency is used to control the decoupling of the rotor position control winding. Utilization makes it possible to synchronize with the rotating magnetic field. Therefore, it is possible to stably control the main spindle even in a steady state and at the time of load and transient.

If it is difficult to apply a feed-forward control system such as vector control, a plurality of motor windings wound on at least a stator as described in the fourth aspect of the present invention, An electromagnetic rotating machine with a radial rotating body position control winding having a rotor position control winding wound independently of the wire and having a different number of poles from the motor winding, and an electromagnetic rotating machine control for controlling the motor winding Means, and a radial direction rotating body position control device comprising: a rotor position control means for detecting a radial position of a main shaft of the rotor and controlling the rotor position control winding so as to match a predetermined value. It is also possible to make the control of the rotor position control winding non-interfering based on the phase angle and the amplitude of the magnetic flux or the excitation current calculated from at least one of the data of the current, voltage and main shaft slip of the motor winding. Out That. The electromagnetic rotating machine control means is of a feedback type, and calculates the phase angle of the magnetic flux and the magnitude of the exciting current by calculation or the like. Then, by utilizing the phase angle of the magnetic flux and the magnitude of the exciting current for decoupling the rotor position control winding, the torque gain can be stabilized in synchronization with the rotating magnetic field. Therefore, it is possible to stably control the main spindle even in a steady state and at the time of load and transient.

Here, the electromagnetic rotating machine control means can be realized by a plurality of feedback control systems, but the electromagnetic rotating machine control means is a feedback control as in the invention of claim 5, and at least an electromagnetic An inverter or a commercial power supply for driving the rotating machine is provided, and the control of the rotor position control winding can be made non-interfering based on the phase angle and magnitude of the magnetic flux or the exciting current calculated based on the slip of the main shaft. By calculating the phase angle of the magnetic flux and the magnitude of the exciting current based on the slip of the main shaft, and using the phase angle and the magnitude of the magnetic flux or the exciting current for non-interference control of the rotor position control winding, It becomes possible to stabilize the torque gain in synchronization with the rotating magnetic field. Therefore, it is possible to stably control the spindle in the steady state.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a first embodiment of the present invention (corresponding to claim 2). FIG. 1 shows a feed-forward prototype. In FIG. 1, an induction machine 1 has a magnetic bearing function and corresponds to an electromagnetic rotating machine with a radial direction rotating body position control winding. The slip detector 3 detects the slip of the induction machine 1 by estimation using an encoder, a resolver, a voltage / current, or the like. Phase converter 5
The slip is converted into a phase lead angle of a current corresponding to the magnitude of the slip. The current converter 7 converts the slip into a ratio between a command value of an exciting current and a motor current according to the magnitude of the slip. The phase adder 9 adds the output of the phase converter 5 and the command value of the primary angular frequency. The three-phase current command value generation circuit 11 calculates a three-phase current command value from output signals of the phase adder 9 and the current converter 7 to generate a current command value for the induction machine 1. On the other hand, the displacement of the rotor in the α-axis direction and the β-axis direction is detected by a sensor (not shown) and is input to the controller 15 and converted into force command values Fα ^* and Fβ ^* . The decoupling circuit 17 is configured to prevent a decrease in gain depending on the load state and interference between the α axis and the β axis. The element converted by the decoupling circuit 17 based on the primary angular frequency is input to the two-phase / three-phase conversion and current controller 19, so that the current of the two-pole winding is controlled. The decoupling circuit 17 outputs a current command value for the radial rotating body position control winding.

Next, the operation will be described. In FIG.
The slip s is derived by the slip detector 3 from the rotational speed of the main shaft and the primary frequency. In response to this slip, the current converter 7
The next current command value I _4s is increased. At the same time, the phase of the primary current is advanced by θ in accordance with the slip by the phase converter 5. Thus to increase the amplitude of the primary current due to the increased load, by advancing the phase angle, the amplitude of I _m a constant value, it is possible to cancel the phase lag. As a result, it is possible to a constant value I _m at steady state at a certain primary angular frequency. Next, a second embodiment of the present invention is shown in FIG. 2 (corresponding to claim 3). FIG. 2 shows an example using a feedforward vector control. It should be noted that vector control of a magnetic flux feedback type, vector control in which primary interlinkage magnetic flux or gap magnetic flux is kept constant, or speed sensorless vector control may be used. The speed sensorless vector control is described in detail in reference (26). References (26)
Is K.Rajashekara "Sensorless Control of AC motor
Drives ", IEEE Press 1996.

In FIG. 2, the rotary encoder 21
And the speed detector 23 detects the rotational speed of the main shaft from the induction machine 1. The controller 25 performs PI control based on the electric angular speed command value 2ω ^* of the main shaft and the output of the speed detector 23, and outputs a torque current command value it ^* . The calculator 27 calculates the amplitude of the quadrupole motor current | I _ms | by the square root of the square sum function from the vector amplitudes i ₀ ^* and it ^* of the exciting current of the secondary flux linkage, the phase angle θ _m1 ^* by the tan-1 function, and A slip electrical angular frequency of 2ω _s ^* is created. The arithmetic circuit 29 calculates the magnetic flux rotation position from the electrical angular velocity 2ω of the main shaft and the slip electrical angular frequency 2ω _s ^* . Further, the three-phase current command value generation circuit 31
9, the motor current command values i _um1 ^* , i _vm1 ^* , i
_wm1 ^* is generated.

The radial position control system is basically the same as in the first embodiment. The element converted by the matrix element converter 33 based on the primary angular frequency 2ω _0t calculated by the arithmetic circuit 29 is used as the matrix element of the non-interference circuit 17 so that the modulation control is synchronized with the rotating magnetic field of the motor winding current. Is possible. The decoupling circuit 17 outputs a current command value for the radial rotating body position control winding.

Next, the operation will be described. FIG. 2 shows a configuration of the slip frequency control type vector control in a case where the magnetic flux command value is fixed and speed control is included. The electrical angular velocity command value 2 [omega ^* and the torque current command value difference and PI control of the electrical angular velocity 2 [omega of the main shaft detected by using a rotary encoder of the spindle and i _t ^*. Slip electrical angular frequency 2ω _s ^* proportional to this
As well as generate, 2 Tsugikusari linkage vector magnitude i ₀ and i _t ^* from the four-pole motor current by the square sum square root function amplitude of the excitation current of the flux | i _ms |, the phase angle by tan-1 function theta _m1 ^* Create Slip electric angular frequency 2ω _s ^* and main shaft electric angular velocity 2ω
Is the primary angular frequency 2ω ₀ . The phase of the four-pole motor current is obtained from the sum of θ _m1 ^* and 2ω ₀ t, and the sine function and the amplitude | Im ₁
| Three-phase four-pole motor current command values i _um1 ^* , i _vm1
^* , i _wm1 ^* is created. The two-pole radial position control system is the same as in FIG. 1, and the matrix element converter 33 uses cos2ω ₀ t to synchronize with the rotating magnetic field of the four-pole motor winding current.
The signal of sin2ω ₀ t is used. This signal indicates the direction of the magnetic flux vector.

An important point of the present invention is that the signal of the rotation angle ω ₀ t of the magnetic flux vector is used as a sine wave and cosine wave function of the decoupling block shown in FIG. Then, in FIG. 1, the stabilization can be performed only in the steady state of the motor, but since the magnetic flux amplitude is maintained at a constant value by the vector control system, the stabilization can be performed even in the transient state of the motor. If the electric motor performs field weakening control to reduce the exciting current command, the decoupling block in FIG. 1 uses the excitation current component or the magnetic flux command value to execute the radial position control loop. You must adjust the loop gain. That is, it is necessary to adjust the gain of the decoupling block in inverse proportion to the magnetic flux amplitude. Note that the vector control system of FIG. 2 can use a control system such as a speed sensorless or voltage sensorless described in the above-mentioned reference (26).

Next, a third embodiment of the present invention is shown in FIG. 3 (corresponding to claim 1). Various configurations of the vector control system have been proposed. The vector control system shown in FIG. 2 already shown is a very rudimentary configuration. The vector control system may be any vector control system, and a general system configuration is shown in FIG. 3 as a third embodiment of the present invention. In FIG. 3, the vector control system 40 receives a torque command value τ ^* and a rotor speed from a speed loop system, a position control system, or a torque control system (not shown). The current command value from the vector control system 40 drives the induction machine 1 via the motor driving inverter 42. From the induction machine 1, the sensor 44 detects a displacement α in the α-axis direction and a displacement β in the β-axis direction of the rotor,
The force is input to the controller 15 and is converted into force command values Fα ^* and Fβ ^* . Decoupling circuit 49 by inputting the flux amplitude [psi ₀ or excitation current command io, etc. from the vector control system 40, the modulation control synchronized with the rotating magnetic field of the motor winding current is given as possible. The output of the decoupling circuit 49 controls the radial direction rotating body position control winding via the radial direction inverter 19.

Next, the operation will be described. FIG. 3 shows the configuration of the feedforward system. The vector control system 40 controls the magnetic flux amplitude Ψ
₀ or the excitation current command io is generated. These quantities may be estimated values, detected values, or command values. These quantities are input to the decoupling block 49, and a matrix calculation is performed using sine waves and cosine waves.
If the magnetic flux or the exciting current amplitude has increased or decreased, the loop gain is adjusted. As a result, since the magnetic flux amplitude is maintained at a constant value by the vector control system in addition to the steady state of the electric motor, it is possible to stabilize even in the transient state of the electric motor. When vector control is established, it becomes as follows. Now, the pre-acceleration, i.e. t <0 in the I _m and I _4s are equal. When accelerating at a constant torque, in a direction perpendicular to the I _m
Generates I _4r, it generates a primary current I _4s to I _m and theta _m1 leading direction. As a result, the magnitude of I _m before and after the torque generating direction does not fluctuate. Therefore, the radial force generation can be made non-interfering.

Next, a fourth embodiment of the present invention is shown in FIG. 4 (corresponding to claim 5). In FIG. 4, the three-phase current command value generation circuit 67 generates a three-phase current command value via the controller 65 based on the primary current command value I _4s and the primary angular frequency ω ₁ . The slip detector 3 detects slip based on the rotation speed of the main shaft of the induction machine 1. A phase calculator 61 an excitation current calculator 63 is adapted to each calculated phase angle θ and the excitation current I _m on the basis of the slip detected by the slip detector 3. Non-interference 69 is adapted for decoupling the radial position control based on these phase angle θ and the excitation current I _m.

Next, the operation will be described. In addition to the above-described control of the feedforward system, there may be several methods for decoupling a decrease in gain or interference between α and β axes depending on the load state. That is, the number 1 already shown
Since interference occurs according to the principle of 2, it is only necessary to add a block that cancels out the interference of Equation 12. That is, Equation 12
Is a method of constructing a feedforward block that cancels out in advance in a radial position control system. FIG. 4 shows the configuration of a system using this method. The rotational speed of the main shaft is detected, and the slip is calculated by the slip detector 3. From this slip to calculate the amplitude and phase lag angle of I _m. This I
A calculation is performed by solving the equation (12) in reverse for the command value using the phase angle θ for the amplitude of _m . As a result, the current of the radial force winding is determined. This method allows the motor control in a form other than that shown in FIG. 4, and is suitable for a simple case in which the induction motor drive inverter has a constant V / f control. In such a case, _I4S uses the detected value.

Although FIG. 4 originally shows a configuration in which only no-load operation is possible, it is also possible to perform acceleration by suddenly changing the primary frequency command value. Therefore, let us consider a case where the magnitude of the primary current increases not only in a sudden increase in frequency but also in a step-like manner. Before the step-like change is applied, that is, at t <0, the primary current amplitude is _I4s , and since it is in a no-load steady state, it is equal to the current Im flowing through the exciting inductance Lm. In this case, it is assumed that Rm is sufficiently large and l is sufficiently small as compared with Lm. Since Im is a current flowing through the inductance, there is no change at the moment, and all the change of I _{4s is} a change of the current I _4r flowing on the rotor side. This state does not generate torque unlike the steady state. Then, after a while, t = ∞
Then, it shifts to the steady state.

Since the radial force is generated by the interaction between Im and the magnetic flux of the two poles, if the direction of the Im vector changes,
The direction of the generated radial force varies. Similarly, as the magnitude of the Im vector decreases, so does the radial force. The direction of Im has shifted and the size has also become smaller. As described above, the change in the direction and the magnitude of Im changes the direction and the magnitude in which the radial force is generated. However, if these fluctuations are detected in advance and made non-interfering by the non-interferometer 69, inter-axial interference of the radial force in the orthogonal two-axis coordinate system can be avoided. further,
In the feedback loop of the radial position control, the loop gain does not fluctuate and the phase margin can be prevented from decreasing.

Next, a fifth embodiment of the present invention is shown in FIG. 5 (corresponding to claim 4). FIG. 5 shows a configuration based on feedback in the case of a relatively large capacity. Motor control 7
Reference numeral 1 indicates that a current command value is output by inputting a torque command value τ ^* . The current command value from the motor control 71 drives the induction machine 1 via the motor driving inverter 73. From the induction machine 1, the displacement α in the α-axis direction of the rotor and the displacement β in the β-axis direction
4 and is input to the controller 15 and the force command value F
α ^* and Fβ ^* . The magnetic flux detection circuit 75 detects the magnetic flux direction and the magnetic flux amplitude from the voltage and current of the induction machine 1. The decoupling circuit 77 decouples the position control in the radial direction based on the magnetic flux direction and the magnetic flux amplitude detected by the magnetic flux detection circuit 75.

Next, the operation will be described. Magnetic flux detection circuit 7
From 5, the magnetic flux direction and the magnetic flux amplitude are detected from the voltage and current of the electric motor. The drive control of the motor does not need to be a vector control system, but may be a simple control such as v / f constant control. The loop gain of the radial position control system is adjusted based on the detected magnetic flux amplitude, and decoupling is realized by a sine wave and a cosine wave having the angle θ. As a result, the radial position control can be stably controlled even in a steady state, a load state, and a transient state.

[0038]

FIG. 6 shows a waveform at the time of rapid acceleration as an example of an effect when a transient response experiment is performed based on the vector control system of FIG. 3 which is a third embodiment of the present invention. Where 2ω ^*
Is the spindle electric angular velocity command value, from 741.6rpm to 200.7r
It increases in steps until pm. At this time, even if the vehicle is suddenly accelerated, the displacements α and β do not change, and stable shaft support is realized. Here, the reason why the cycle of the shaft runout of α and β differs before and after the step is that the cycle of the shaft runout matches the rotation cycle of the main shaft. Period is small.

[0039]

As described above, the present invention (claim 1)
According to the structure described above, the control by the rotor position control means is made non-interfering based on the primary angular frequency extracted from the electromagnetic rotating machine control means. The control system can be made non-interfering. Therefore, stable floating control of the rotor is possible.

According to the present invention (claim 2), the control of the rotor position control winding is made non-interfering based on the primary angular frequency command value extracted from the constant voltage / frequency control system. With this configuration, the motor control system and the radial position control system can be made non-interfering in a steady state.

Further, according to the present invention (claim 3), the control of the rotor position control winding is made non-interfering based on the primary angular frequency command value extracted from the vector control system. The motor control system and the radial position control system can be made non-interfering with each other both during load and during transition.

Further, according to the present invention (claim 4), based on the phase angle of the magnetic flux calculated from at least one of the current and voltage of the motor winding and the slip of the main shaft and the magnitude of the exciting current, Since the control of the rotor position control winding is configured to be non-interfering, the motor control system and the radial position control system can be made non-interfering both under load and transient conditions.

Further, according to the present invention (claim 5), the control of the rotor position control winding is made non-interfering based on the phase angle of the magnetic flux calculated based on the slip of the main shaft and the magnitude of the exciting current. Thus, the motor control system and the radial position control system can be made non-interfering in the steady state.

[0044]

[Brief description of the drawings]

[Fig. 1] Feedforward type prototype

Fig. 2 Example using feedforward vector control

FIG. 3 Configuration of feedforward type system

Fig. 4 Prototype of feedback type controller

Fig. 5 Configuration of feedback type system

FIG. 6 shows an example of an effect

FIG. 7 is a configuration example of the entire unit.

FIG. 8 Radial generation principle

FIG. 9: Induction motor equivalent circuit

FIG. 10 Interference of radial forces

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 induction machine 3 slip detector 5 phase converter 7 current converter 9 phase adder 11 three-phase current command value generation circuit 15 controller 17 decoupling circuit 19 matrix element converter 21 rotary encoder 23 speed detector 25 controller 27 arithmetic unit 29 arithmetic circuit 31 three-phase current command value generation circuit 33 matrix element converter 40 vector control system 42 motor drive inverter 44 sensor 49 decoupling circuit 61 phase calculator 63 excitation current calculator 65 controller 67 three-phase Current command value generation circuit 69 Non-interferometer 71 Motor control 73 Motor drive inverter 75 Magnetic flux detection circuit 77 Non-interference circuit

Continued on the front page (72) Inventor Akira Chiba 1-8-14 Ochiaiai Mansion, Shinjuku-ku, Tokyo 707 (72) Inventor Tadashi Fukao 24-45 Matsukazedai, Aoba-ku, Yokohama-shi, Kanagawa Prefecture (72) Inventor Nomura Shinichi 4-3-1 Yashiki, Narashino-shi, Chiba Seiko Seiki Co., Ltd. (72) Inventor Yoshitake Uejima 4-3-1 Yashiki, Narashino-shi, Chiba Seiko Seiki Co., Ltd.

Claims (5)

[Claims] 1. A radial direction having at least a multi-pole motor winding wound around a stator and a rotor position control winding wound independently of the motor winding and wound around a different number of poles from the motor winding. An electromagnetic rotating machine having a rotating body position control winding; an electromagnetic rotating machine control means for controlling the electric motor winding; and a rotor position control winding for detecting a radial position of a main shaft of the rotor so as to match a predetermined value. A radial direction rotating body position control device including a rotor position control means for controlling a line, wherein the rotor position control means based on a primary angular frequency and a magnetic flux current amplitude extracted by the electromagnetic rotating machine control means. A radial-direction rotating body position control device, wherein the control of a position control winding is made non-interfering. 2. The electromagnetic rotating machine control means is a control for making a voltage / frequency ratio substantially constant, based on at least one data of a main shaft slip, an exciting current command value and a primary angular frequency command value. An arithmetic circuit that calculates the primary current and the phase angle of the motor winding, a three-phase current command value generation circuit that generates a three-phase current command value based on the result of the arithmetic circuit,
At least adjusting means for adjusting a voltage and a frequency so that a current follows the three-phase current command value, and decoupling control of the rotor position control winding based on the command value of the primary angular frequency. The radial direction rotary body position control device according to claim 1, wherein: 3. The electromagnetic rotating machine control means is a vector control, and performs primary control such that at least one of an exciting magnetic flux, a primary interlinkage magnetic flux, and a secondary interlinkage magnetic flux is constant based on a rotation speed of a main shaft or an estimated value thereof. An arithmetic circuit for calculating the current, the primary angular frequency, and the phase angle; an arithmetic circuit for calculating the instantaneous current value; an arithmetic circuit for calculating the voltage amplitude and the phase angle; and a three-phase current command value based on the result of the arithmetic circuit. At least a three-phase current command value generating circuit or a three-phase voltage command value generating circuit for generating a three-phase voltage command value, wherein the rotor position is determined based on a primary angular frequency and a magnetic flux amplitude or an exciting current amplitude of the arithmetic circuit. 2. The apparatus according to claim 1, wherein the control of the control winding is decoupling. 4. A radial direction having at least a plurality of motor windings wound on a stator and a rotor position control winding wound on a different number of poles from the motor windings independently of the motor windings. An electromagnetic rotating machine having a rotating body position control winding; an electromagnetic rotating machine control means for controlling the electric motor winding; and a rotor position control winding for detecting a radial position of a main shaft of the rotor so as to match a predetermined value. A radial direction rotating body position control device comprising a rotor position control means for controlling a line, wherein a magnetic flux or an exciting current calculated from at least one of data of current, voltage, and main shaft slip of the motor winding is provided. A control device for a radial direction rotating body, wherein the control of the rotor position control winding is made non-interfering based on a phase angle and an amplitude. 5. The electromagnetic rotating machine control means is a feedback control, including at least an inverter or a commercial power supply for driving the electromagnetic rotating machine, and based on a phase angle and magnitude of a magnetic flux or an exciting current calculated based on a slip of the main shaft. 5. The apparatus according to claim 4, wherein the control of the rotor position control winding is decoupling.