CN1728542A - Control process and control device of induction motor ind. appts. - Google Patents
Control process and control device of induction motor ind. appts. Download PDFInfo
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- CN1728542A CN1728542A CNA2005100846001A CN200510084600A CN1728542A CN 1728542 A CN1728542 A CN 1728542A CN A2005100846001 A CNA2005100846001 A CN A2005100846001A CN 200510084600 A CN200510084600 A CN 200510084600A CN 1728542 A CN1728542 A CN 1728542A
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Abstract
The invention aims at obtaining a high output above the rated output of an induction motor. When the magnetic field flux of the induction motor (1) is in a strong magnetic field flux status, according to an induction motor control method of carrying out the vector control of magnetic field weakening control, the magnetic field weakening control is carried out in case that the rotating speed N of the induction motor (1) is higher than a rated rotating speed. Furthermore, during carrying out the magnetic field weakening control, the magnetic field flux is changed to enable the internal inducted electromotive force of the induction motor (1) is larger than the rated rotating speed. In addition, after the magnetic field weakening control is started, the magnetic field flux is weakened according to the rise of the rotating speed N to enable the terminal voltage of the induction motor (1) not to exceed a crest voltage during a maximal overload.
Description
Technical field
The present invention relates to the control method and the control device of induction motor, relate in particular to the control method and the control device of the induction motor that carries out vector control.
Background technology
As the vector control mode of induction motor, be well known that the most general mode that is suitable for dc separately excited motor.That is, carry out the rotation of constant force square with interior in rated speed (below be called " base value speed "), more than base value speed for carrying out the mode of permanent output rotation.In addition, rated speed, the minimum speed when being the specified output as benchmark output.This technology, the electricity that for example is documented in " variable speed alternating current motor to rolling mill be suitable for " of " non-patent literature 1 " can technical report, puts down in August, 15, No. 935, P.29 in.
But, when the perseverance output more than base value speed is turned round,, therefore be difficult to obtain the above height of specified output and export owing to control so that the induced inside electromotive force of induction motor keeps constant.
Summary of the invention
Here, the present invention proposes in order to solve above-mentioned problem just, and its purpose is, a kind of control device and control method that can obtain the induction motor of high output is provided.
In addition, the invention provides a kind of, the non-iron equipment of ironmaking, rolling stock, up-coiler, boats and ships, engineering machinery, paper machine equipment and the conveying equipment power controlled with induction motor by the control device of above-mentioned induction motor.
In order to solve above-mentioned problem, the present invention, when being in high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of induction motor, when the induced inside electromotive force is bigger during than rated speed, carry out the vector control of field weakening control, when field weakening is controlled, bigger like that when making the induced inside electromotive force can be changed on one side than rated speed, Yi Bian carry out vector control.
Perhaps, when high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of induction motor, when the induced inside electromotive force is bigger during than rated speed, switch to the vector control of the weak control in magnetic field, when a little less than magnetic field, controlling, on one side induced inside electromotive force when keep switching, carry out vector control on one side.
Constitute according to this, can realize the height output of induction motor.
Description of drawings
Fig. 1 is the block diagram of the total system of the control device that contains induction motor of relevant embodiments of the present invention.
Fig. 2 is the figure of T shape equivalent electric circuit of 1 phasor of the induction motor of presentation graphs 1.
Fig. 3 is the polar plot of the T shape equivalent electric circuit of Fig. 2.
Fig. 4 is the figure of the operating characteristics of the operating characteristics of induction motor of presentation graphs 1 and induction motor as a reference example, with the figure of figure (A), with the figure of figure (B) for the operating characteristics of the induction motor of the relevant present embodiment of expression for the operating characteristics of the induction motor of expression comparative example.
Fig. 5 is the block diagram of the total system of the control device that contains induction motor of relevant another embodiment of the present invention.
Fig. 6 is the figure of the operating characteristics of the operating characteristics of induction motor of presentation graphs 5 and induction motor as a reference example, with the figure of figure (A), with the figure of figure (B) for the operating characteristics of the induction motor of the relevant present embodiment of expression for the operating characteristics of the induction motor of expression comparative example.
Rotating speed when Fig. 7 changes the commencing speed of Fig. 6 (B) for expression and the figure of the relation between the output.
Embodiment
Fig. 1 is the block diagram of the total system of the control device that contains induction motor of relevant embodiments of the present invention.
Among Fig. 1, induction motor 1 drives according to the speed command SPs from speed command device 2.Speed command SPs is the desired value of rotational speed N (r/min).And, induction motor 1 can be used for for example smelting iron purposes such as non-iron equipment (equipment of hot rolling, cold-rolling equipment, process line equipment), rolling stock, up-coiler (containing uncoiler), boats and ships, engineering machinery (main shaft drives with), paper machine equipment, conveying equipment.
Below describe particularly.Speed control 4, based on above-mentioned speed command SPs, with poor (SPs-N) of the rotational speed N of the induction motor 1 that detects by velocity transducer 3, instruct Iqs to export to torque current controller 7 torque current.
And magnetic flux instruction device 5 based on the rotational speed N that is detected by velocity transducer 3, is exported to exciting current arithmetic unit 6 with the magnetic flux instruction φ s of magnetic field flux.Then, exciting current arithmetic unit 6 based on the magnetic flux instruction φ s from magnetic flux instruction device 5, calculates the exciting current of induction motor 1, and excitation current instruction Ids is exported to exciting current controller 6.
Torque current controller 7, Vq exports to coordinate converter 11 with the torque voltage instruction, and this instruction Vq is used to make the torque current instruction Iqs that exports from speed control 4 from the torque current Iq tracking of current operator device 9 outputs.Relative therewith, exciting current controller 8 instructs Vd to export to coordinate converter 11 exciting voltage, and this instruction Vd is used to make the exciting current Id from 9 outputs of current operator device to follow the trail of from the excitation current instruction Ids of exciting current arithmetic unit 6 outputs.And,, therefore in Fig. 1, omit its relevant record because the setting of the output frequency of current operator device 9 can be used general technique known.
Here, the characteristic point to above-mentioned magnetic flux instruction device 5 is described in detail.Magnetic flux instruction device 5, when high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotational speed N of induction motor 1, magnetic flux instruction device 5 is when the induced inside electromotive force is bigger during than base value (base) speed, carry out the instruction of magnetic field flux, so that carry out the vector control of field weakening control.Then, magnetic flux instruction device 5 when field weakening is controlled, is carried out the instruction of magnetic field flux, Yi Bian bigger when making the induced inside electromotive force can be changed into than base value speed, Yi Bian carry out vector control.
That is, when the rotational speed N of induction motor 1 was bigger than base value speed, magnetic flux instruction device 5 output magnetic fluxs instruction φ s were so that carry out field weakening control.In other words, when when the rotational speed N of induction motor 1 is bigger than base value speed, magnetic flux instruction device 5 is also exported magnetic flux instruction φ s, so that keep the row vector control of going forward side by side of the magnetic field flux state of high-intensity magnetic field magnetic flux.
Then, magnetic flux instruction device 5 when field weakening is controlled, changes magnetic field flux so that the induced inside electromotive force of induction motor 1 is big during than base value speed.Further, magnetic flux instruction device 5 after beginning field weakening control, according to the rising of rotational speed N, weakens magnetic field flux, so that the maximum voltage of the terminal voltage of induction motor 1 can not surpass maximum overload the time.According to such structure, change the magnetic field flux of induction motor 1, obtain the operating characteristics of aftermentioned Fig. 4 (B).
Also have, the control device of induction motor 1 is for being the structure that contains each parts 4～9,11 as shown in Figure 1.The control device of induction motor 1 also can be to be made of for example analog circuit, also can constitute by microcomputer, and can also be to constitute by monolithic IC.
Then, the equivalent electric circuit to induction motor 1 describes.
Fig. 2 is the schematic diagram of the T shape equivalent electric circuit of 1 phase of induction motor.According to Fig. 2, exciting current Id flows through field circuit, and torque current Iq flows through stator circuit.Field circuit, its structure is for containing field circuit inductance L m.Stator circuit, its structure are to contain the resistance (R2/S) that rotor circuit resistance R 2 is reduced with slide coefficient S.And primary current (stator current) Is that is tried to achieve by the quadratic sum square root of exciting current Id and torque current Iq flows through stator winding.
Also have, among Fig. 2, Vs represents terminal voltage, and R1 represents stator circuit resistance, and L1 represents the stator circuit inductance, and L2 represents the rotor circuit inductance, and Ed represents induced inside electromotive force (field circuit voltage).
The electric current of T shape equivalent electric circuit shown in Figure 2 and the relation of voltage are shown in the polar plot of Fig. 3.According to this polar plot, the relation between decision terminal voltage Vs and the induced inside electromotive force Ed by magnetic flux instruction device 5 shown in Figure 1, is suitably carried out the magnetic flux instruction φ s that is used to generate exciting current Id.Also have, among Fig. 3, w represents the power supply angular frequency.
Then, the operating characteristics to induction motor 1 describes.Here, for the operating characteristics with the induction motor of reference example compares, both operating characteristics is described.
Fig. 4 is the figure of the operating characteristics of the induction motor of the operating characteristics of the induction motor of representing relevant present embodiment and comparative example.And torque current Iq represents as constant.
At first, based on Fig. 4 (A) operating characteristics of the induction motor of comparative example is described.According to Fig. 4 (A), base value speed (power supply angular frequency wB) with interior permanent torque control range in, carry out torque T and be the permanent torque running of constant, and in the output of the perseverance more than the base value speed control range, exporting P is the perseverance output control of constant.At this moment, magnetic field flux φ is constant (high-intensity magnetic field magnetic flux state) in permanent torque control range, weakens with rotational speed N is inversely proportional in perseverance output control range.
Then, in the perseverance output control range more than base value speed, even the inversely proportional minimizing of magnetic field flux φ and rotational speed N, induced inside electromotive force Ed also keeps constant Edo.Constant Edo, the induced inside electromotive force Ed during for base value speed.At this moment, terminal voltage Vs must become big along with the rising of rotational speed N.And terminal voltage Vs must correspondingly become big along with the size of primary current Is.And, the maximum voltage Vsm of terminal voltage Vs, the voltage during for maximum overload.Also have, the rotational speed N of this moment is called maximum speed (power supply angular frequency wT).
Here, the absolute value of the terminal voltage Vs shown in Fig. 4 (A) according to the relation of polar plot shown in Figure 3, is represented by formula (1).In addition, the induced inside electromotive force when %Z represents that impedance percentage, Edo represent base value speed, the power supply angular frequency when wB represents base value speed.Here, be simple formula, the difference frequency amount of ignoring induction motor 1 describes.
VsEdo·[1+{％Z·(Iq/Iqo)·(w/wB)}
2]
1/2 … (1)
%Z and Edo in the formula (1) are by formula (2) and formula (3) expression.
％Z＝Iqo·wB·(L1+L2)/Edo … (2)
Edo＝Ido·wB·Lm … (3)
Also have, the perseverance output control range shown in Fig. 4 (A) (in the w 〉=wB), because Ed=Edo, so formula (1) is considered and the following relation of expression.
Iq·R1/Edo+(L1+L2)/Lm＜＜1 … (4)
Id·R1/Edo＜＜％Z·(Iq/Iqo)·(w/wB) … (5)
Among Fig. 4 (A), with %Z=0.2 (20%), Iq/Iqo=1.75 (175%), w/wB=3, substitution formula (1) is obtained the maximum voltage Vsm 1.45Edo of the terminal voltage Vs shown in Fig. 4 (A).
Therefore, in the control method of the comparative example shown in Fig. 4 (A), even with the maximum output voltage of power converter shown in Figure 1 12 as the Vs shown in the formula (1), the relation that also has induced inside electromotive force Edo=(maximum output voltage of power converter)/1.45, the output P (=3 of induced electromotive force
1/2VsIs), be restricted to 1/1.45 times to the maximum output voltage of power converter 12.
Then, based on Fig. 4 (B) operating characteristics of the induction motor of relevant present embodiment is described.And, have the condition identical (%Z=0.2, Iq/Iqo=1.75, Vsm 1.45Edo) with Fig. 4 (A).Among Fig. 4 (B), the operating characteristics of single-point line presentation graphs 4 (A).
Among Fig. 4 (B), different with the situation of Fig. 4 (A), permanent torque control range is at commencing speed (power supply angular frequency w1＞wB) enlarge before.And, in the field weakening control range more than commencing speed, weaken the vector control of magnetic field flux φ.
And in the field weakening control range, the induced inside electromotive force Edo of induced inside electromotive force Ed during than base value speed is big.
Here, according to polar plot shown in Figure 3, (general expression of the absolute value of the terminal voltage Vs in the w 〉=w1) as the formula (6) in the field weakening control range shown in Fig. 4 (B).Also have, %Z is by formula (2) expression, and Edo is represented by formula (3).
VsEdo·[Ed/Edo+{％Z·(Iq/Iqo)·(w/wB)}
2]
1/2 … (6)
Also have, the field weakening control range shown in Fig. 4 (B) (in the w 〉=w1), because Ed=α Edo, so formula (6) is considered and the following relation of expression.In the formula, 1.0＜α＜about 2.0.
Iq·R1/Edo+(L1+L2)/Lm＜＜1 … (7)
Id·R1/Edo＜＜％Z·(Iq/Iqo)·(w/wB) … (8)
Relative therewith, (w＜w1), have following relation in the permanent torque control range shown in Fig. 4 (B).
Ed/Edo＝w/wB … (9)
Then,, then can obtain formula (10), the maximum voltage Vsm of the terminal voltage Vs of the commencing speed shown in this formula presentation graphs 4 (B) (power supply angular frequency w1) (being absolute value) here with formula (9) substitution formula (6).
VsmEd·[1+{％Z·(Iq/Iqo)}
2]
1/2 … (10)
And in the formula (10), if see Vsm as the Vsm shown in Fig. 4 (A) (=1.45Edo, be α=1.45), then formula (6) becomes following formula (11).In addition, α=1.45 are for the same terms comparison diagram 4 (A) and Fig. 4 (B).In the scope of 1.0＜α＜about 2.0, can set α arbitrarily.
Ed·[1+{％Z·(Iq/Iqo)}
2]
1/2＝1.45Edo … (11)
When the control of the field weakening shown in Fig. 4 (B) beginning, magnetic flux instruction device 5 shown in Figure 1 instructs magnetic flux φ s to export to exciting current control part 6 according to the relation that satisfies formula (11) like that.Thus, when field weakening was controlled, Ed was bigger than Edo for the induced inside electromotive force.
And among Fig. 4 (B), owing to for example %Z=0.2, Iq/Iqo=1.75, if with they substitution formulas (11), then the maximum of induced inside electromotive force satisfies following relation.Also have, %Z, Iq/Iqo are not limited to this, can also do various changes according to known technology.
Ed＝1.37Edo … (12)
At this moment commencing speed (power supply angular frequency w1) according to formula (9), can be obtained w1=1.37wB.Therefore, in this case, the output P1 of induction motor 1 becomes 1.37 times of specified output.And also bigger than commencing speed if rotational speed N rises to, then magnetic field flux φ dies down, so that the Vs of formula (6) becomes the Vsm of formula (1).And, the dashed area of Fig. 4 (B), expression is than the part of the higher output of specified output P.
Like this, in the field weakening control range shown in Fig. 4 (B), it is big that the output capacitance in the permanent output area shown in Fig. 4 (A) becomes, and can realize the above height output of rated capacity of induction motor 1.And the terminal voltage Vs shown in Fig. 4 (B) no matter the size of rotational speed N can both keep constant Vsm, does not therefore need the dielectric voltage withstand of induction motor 1 is changed.
And, purposes as induction motor 1, by for example being used for, smelt iron non-iron equipment (equipment of hot rolling, cold-rolling equipment, process line equipment), rolling stock, up-coiler (containing uncoiler), boats and ships, engineering machinery (main shaft drives with), paper machine equipment, conveying equipment etc., can be used as the power source of various different purposes and utilize.Therefore, have the induction motor 1 of the operating characteristics shown in Fig. 4 (B), can be corresponding with the purposes of the wide scope of the various output capacitances of needs.
Also have, do not surpass in the scope of maximum voltage Vsm,, also can change the highest output P1 of induction motor 1 by the commencing speed shown in change Fig. 4 (B) at the terminal voltage Vs shown in Fig. 4 (B).And,, can reduce the cost of induction motor 1 by being the power source that minimum induction motor 1 is chosen to be various uses with specified output P.
In addition, among Fig. 4 (B), represented that α is 1.45 situation, but in the scope of 1＜α＜about 2.0, can change.In this case, can make the output P in the field weakening control range variable.
Below, the control device of the induction motor of relevant another execution mode is described.Fig. 5 is the overall system diagram of control device relevant another execution mode, that contain induction motor.Among Fig. 5,, append switching command device 14 is set embodiment shown in Figure 1.Though, also in order each structure is described to having carried out repeat specification with the part of execution mode shown in Figure 1.
Among Fig. 5, induction motor 1 is driven according to the speed command SPs from speed command device 2.Speed command SPs is the desired value of rotational speed N (r/min).And, induction motor 1, for example can be used for, smelt iron purposes such as non-iron equipment (equipment of hot rolling, cold-rolling equipment, process line equipment), rolling stock, up-coiler (containing uncoiler), boats and ships, engineering machinery (main shaft drives with), paper machine equipment, conveying equipment.
Below bright specifically.Speed control 4, based on above-mentioned speed command SPs, with poor (SPs-N) of the rotational speed N of the induction motor 1 that detects by velocity transducer 3, instruct Iqs to export to torque current controller 7 torque current.
And magnetic flux instruction device 5 based on the rotational speed N that is detected by velocity transducer 3 with from the switching signal k of switching command device 14 outputs, is exported to exciting current arithmetic unit 6 with the magnetic flux instruction φ s of magnetic field flux.Switching signal k is the signal in moment of expression switched energization mode.Switching signal k, though adopt the information of rotational speed N self, for example under the situation of this rotational speed N of predefined, can adopt the information of its rotating speed of indication.
And magnetic flux instruction device 5 based on above-mentioned switching signal k, preestablishes rotational speed N, i.e. rotating speed when the switched energization mode.
Exciting current arithmetic unit 6 based on the magnetic flux instruction φ s from magnetic flux instruction device 5, calculates the exciting current of induction motor 1, and excitation current instruction Ids is exported to exciting current controller 6.
Torque current controller 7, Vq exports to coordinate converter 11 with the torque voltage instruction, and this instruction Vq is used to make the torque current instruction Iqs that exports from speed control 4 from the torque current Iq tracking of current operator device 9 outputs.Relative therewith, exciting current controller 8 instructs Vd to export to coordinate converter 11 exciting voltage, and this instruction Vd is used to make the exciting current Id from 9 outputs of current operator device to follow from the excitation current instruction Ids of exciting current arithmetic unit 6 outputs.And, the setting of the output frequency of current operator device 9, owing to can adopt general technique known, so omit its relevant record among Fig. 5.
Coordinate converter 11 becomes fixed coordinate system with above-mentioned torque voltage instruction Vq and exciting voltage instruction Vd coordinate transform, and generates the voltage instruction V of 3 phasors.Then, coordinate converter 11 is exported to power converter 12 with the voltage instruction V that generates.Power converter 12 is for example PWM (pulse width modulation, i.e. pulse-width modulation) inverter.
Here, the characteristic point about above-mentioned magnetic flux instruction device 5 is described in detail.Magnetic flux instruction device 5, when high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotational speed N of induction motor 1, and, magnetic flux instruction device 5, when the induced inside electromotive force is bigger during than base value speed, carry out the instruction of magnetic field flux, so that switch to the vector control of field weakening control.Like this, when high-intensity magnetic field magnetic flux state, can carry out torque is the permanent torque control of constant.
Then, when field weakening is controlled, magnetic flux instruction device 5, on one side to keep the induced inside electromotive force when field weakening control is switched be constant, carry out the instruction of magnetic field flux so that carry out vector control on one side.And magnetic flux instruction device 5 after field weakening control beginning, makes magnetic field flux weaken with the rising of rotational speed N inversely proportionally.Like this, when field weakening is controlled, can carry out the perseverance output control that induction motor 1 is output as constant.
According to such structure, the magnetic field flux of induction motor 1 is changed, obtain the operating characteristics of aftermentioned Fig. 6 (B).
Also have, the control device of induction motor 1, its structure is to contain each parts 4～9,11 shown in Figure 5.The control device of induction motor 1 can be to be made of for example analog circuit, also can be to be made of microcomputer, can also be to be made of monolithic IC.
About the equivalent electric circuit of induction motor 1, as having illustrated among Fig. 2, exciting current Id flows through field circuit, and torque current Iq flows through stator circuit.Field circuit, its structure is for containing field circuit inductance L m.Stator circuit, its structure are to contain the resistance (R2/S) that rotor circuit resistance R 2 is reduced with slide coefficient S.And primary current (stator current) Is that is obtained by the quadratic sum square root of exciting current Id and torque current Iq flows through stator winding.
The electric current of T shape equivalent electric circuit and the relation of voltage, shown in the polar plot of Fig. 3 of having stated, relation between decision terminal voltage Vs and the induced inside electromotive force Ed by magnetic flux instruction device 5 shown in Figure 1, is suitably carried out the magnetic flux instruction φ s that is used to generate exciting current Id.
Then, the operating characteristics to induction motor 1 describes.Here, for the operating characteristics with the induction motor of reference example compares, both operating characteristics is described.
Fig. 6 is the figure of the operating characteristics of the induction motor of the operating characteristics of the induction motor of representing relevant present embodiment and comparative example.Transverse axis is represented rotational speed N, and the longitudinal axis is represented torque T, magnetic field flux φ, primary current Is, terminal voltage Vs, induced inside electromotive force Ed.Also have, torque current Iq represents as constant.
At first, based on Fig. 6 (A) operating characteristics of the induction motor of comparative example is described.According to Fig. 6 (A), base value speed (power supply angular frequency wB) with interior permanent torque control range in, carry out torque T and be the permanent torque running of constant, and in the output of the perseverance more than the base value speed control range, exporting P is the perseverance output control of constant.At this moment, magnetic field flux φ is constant (high-intensity magnetic field magnetic flux state) in permanent torque control range, weakens with rotational speed N in perseverance output control range inversely proportionally.
And in the perseverance output control range more than base value speed, even magnetic field flux φ and rotational speed N reduce inversely proportionally, induced inside electromotive force Ed also keeps constant Edo.Constant Edo, the induced inside electromotive force Ed during for base value speed.At this moment, terminal voltage Vs must become big along with the rising of rotational speed N.And terminal voltage Vs must correspondingly become big according to the size of primary current Is.Also has the maximum voltage Vsm of terminal voltage Vs, the voltage during for maximum overload.And the rotational speed N of this moment is called maximum speed (angular frequency wT).
Here, the absolute value of the terminal voltage Vs shown in Fig. 6 (A), according to the relation of polar plot shown in Figure 3, represent by formula (13).Also have the induced inside electromotive force when %Z represents that percentage impedance, Edo represent base value speed, the power supply angular frequency when wB represents rated speed.Here, be simple formula, the difference frequency amount of ignoring induction motor 1 describes.
VsEdo·[1+{％Z·(Iq/Iqo)·(w/wB)}
2]
1/2 … (13)
%Z and Edo in the formula (13) are by formula (14) and formula (15) expression.
％Z＝Iqo·wB·(L1+L2)/Edo … (14)
Edo＝Ido·wB·Lm … (15)
Also have, the perseverance output control range shown in Fig. 6 (A) (in the w 〉=wB), because Ed=Edo, so formula (13) is considered and the following relation of expression.
Iq·R1/Edo+(L1+L2)/Lm＜＜1 … (16)
Id·R1/Edo＜＜％Z·(Iq/Iqo)·(w/wB) … (17)
Here, among Fig. 6 (A), will be for example %Z=0.2 (20%), Iq/Iqo=1.75 (175%), w/wB=3, substitution formula (13) is obtained the maximum voltage Vsm=1.45Edo of the terminal voltage Vs shown in Fig. 6 (A).
Therefore, in the control method of the comparative example shown in Fig. 6 (A), even with the maximum output voltage of power converter shown in Figure 5 12 as the Vs shown in the formula (13), the relation that also has induced inside electromotive force Edo=(maximum output voltage of power converter)/1.45, the output P (=3 of induced electromotive force
1/2VsIs), be restricted to 1/1.45 times to the maximum output voltage of power converter 12.
Then, based on Fig. 6 (B) operating characteristics of the induction motor of relevant present embodiment is described.And, have the condition identical (%Z=0.2, Iq/Iqo=1.75, Vsm 1.45Edo) with Fig. 6 (A) at this.Among Fig. 6 (B), the operating characteristics of single-point line presentation graphs 6 (A).
Among Fig. 6 (B), different with the situation of Fig. 6 (A), permanent torque control range is at commencing speed (power supply angular frequency w1＞wB) enlarge before.And, in the perseverance output control range more than commencing speed, weaken the vector control of magnetic field flux φ.And in perseverance output control range, the induced inside electromotive force Edo of induced inside electromotive force Ed during than base value speed is big.
Then, when the beginning of perseverance output control (during commencing speed), promptly when field weakening control was switched, magnetic flux instruction device 5 shown in Figure 5 instructed J to export to exciting current control part 6 magnetic flux according to the relation that satisfies following formula (18).Like this, in the output of the perseverance shown in Fig. 6 (B) control range, induced inside electromotive force Ed is also bigger than Edo.
Ed·[1+{％Z·(Iq/Iqo)·(w2/w1)}
2]
1/2＝1.45Edo…(18)
But w2 is the maximum (top) speed of the field weakening control range of induction motor 1 in the formula (18).
%Z is by above-mentioned formula (14) expression, and Edo is represented by above-mentioned formula (15).
Here, according to polar plot shown in Figure 3, perseverance shown in Fig. 6 (B) output control range (represented by formula (19) by the general expression of the absolute value of the terminal voltage Vs of w＞wB).
VsEdo·[Ed/Edo+{％Z·(Iq/Iqo)·(w/wB)}
2]
1/2… (19)
Also have, the permanent torque control range shown in Fig. 6 (B) (in the w＜w1), because Ed=α Edo, so formula (19), consider the following relation of also expression.
Iq·R1/Edo+(L1+L2)/Lm＜＜1 … (20)
Id·R1/Edo＜＜％Z·(Iq/Iqo)·(w/wB) … (21)
And, (the w＜w1), have following relation of the permanent torque control range shown in Fig. 6 (B).
Ed/Edo＝w/wB … (22)
Here, think that the maximum (top) speed (power supply angular frequency w2) of the field weakening control range shown in Fig. 6 (B) is w2=1.5w1.Therefore, set up following relation by w2.
w2/wB＝Ed/Edo·1.5 … (23)
According to formula (23) and formula (19), the Vs of w2 (being absolute value here) is expressed from the next.
VsEd·[1+{％Z·(Iq/Iqo)·1.5}
2]
1/2 … (24)
Here, the Vs of formula (12) is according to precondition, because the Vsm=1.45Edo shown in Fig. 6 (A) is therefore as follows.
Ed·[1+{％Z·(Iq/Iqo)·1.5}
2]
1/2＝1.45Edo … (25)
According to formula (13), Ed is bigger than Edo in expression.
Here, among Fig. 6 (B), owing to for example %Z=0.2, Iq/Iqo=1.75, if with they substitution formulas (25), then the maximum of induced inside electromotive force Ed has following relation.And Z%, Iq/Iqo, w2/w1 are not limited to this, can do various changes according to known technology.
Ed＝1.28Edo … (26)
The commencing speed (power supply angular frequency w1) of field weakening control at this moment according to formula (22), can be obtained w1=1.28wB.Therefore, in this case, the output P1 of induction motor 1 becomes 1.28 times of specified output.And, also bigger if rotational speed N further rises than commencing speed, make then that magnetic field flux φ and rotational speed N are inversely proportional to die down, so that the Vs of formula (24) can not surpass maximum voltage Vsm 1.45Edo.And, because the terminal voltage Vs shown in Fig. 6 (B) no matter the size of rotational speed N how, all keeps constant Vsm, does not therefore need the dielectric voltage withstand of induction motor 1 is changed.Also have, the dashed area of Fig. 6 (B), expression is than the zone of the higher output of specified output P.
Like this, just can realize the above height output of rated capacity of induction motor 1.
And, purposes as induction motor 1, by for example being used for, smelt iron aspects such as non-iron equipment (equipment of hot rolling, cold-rolling equipment, process line equipment), rolling stock, up-coiler (containing uncoiler), boats and ships, engineering machinery (main shaft drives with), paper machine equipment, conveying equipment, can be used as the power source of various different purposes and utilize.Therefore, have the induction motor 1 of the operating characteristics shown in Fig. 6 (B), corresponding with the purposes of the wide scope of the various output capacitances of needs.And, make specified output P be the power source of minimum induction motor 1 by selected as various uses, can reduce the cost of induction motor 1.
Here, among Fig. 6 (B), though represented the situation of commencing speed w1=1.28wB, also can in the velocity interval that for example begins till the maximum speed (power supply angular frequency wT), commencing speed have been changed from the base value speed shown in Fig. 6 (B) (power supply angular frequency wB).In this case, magnetic flux instruction device 5 shown in Figure 5 based on the switching signal k that is provided by switching command device 5 shown in Figure 5, is selected rotating speed, carries out the instruction of magnetic field flux φ when selecting rotating speed, so that carry out the switching to field weakening control.Like this, the high output area of the output P shown in Fig. 6 (B), as shown in Figure 7.That is, commencing speed is more little, and high output area enlarges more, and on the contrary, the maximum of output P is more little.Like this, just can access various output characteristic.
And, among Fig. 6 (B), be 1.45 situation though represented α, in the scope of 1＜α＜about 2.0, can change, in this case, the output P in the time of can making the field weakening control range is variable.
Claims (48)
1, a kind of control method of induction motor is when magnetic field flux is in the state of high-intensity magnetic field magnetic flux, carries out the control method of induction motor of the vector control of field weakening control, it is characterized in that,
When described high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, the vector control of carrying out field weakening control,
When the control of described field weakening, Yi Bian bigger when making described induced inside electromotive force can be changed into than described rated speed, Yi Bian carry out vector control.
2, a kind of control method of induction motor is the control method of carrying out the induction motor of vector control according to the mode that the speed command that is provided is provided, it is characterized in that,
When high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, the vector control of carrying out field weakening control,
When the control of described field weakening, Yi Bian bigger when making described induced inside electromotive force can be changed into than described rated speed, Yi Bian carry out vector control.
3, according to the control method of claim 1 or 2 described induction motors, it is characterized in that,
When described field weakening control begins, change described magnetic field flux so that satisfy formula (1) and the relation of formula (2),
Ed[1+{%ZIq/Iqow/wB}
2]
1/2=α Edo (α＞1, Iq: constant)
…(1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, w is the power supply angular frequency of the rotating speed of induction motor, power supply angular frequency when wB is the rated speed of induction motor, the nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, L1 is the stator circuit inductance, and L2 is the rotor circuit inductance.
4, according to the control method of each described induction motor of claim 1～3, it is characterized in that,
When the control of described field weakening, weaken described magnetic field flux, so that the maximum voltage of the terminal voltage of the described induction motor of corresponding rising when being no more than maximum overload with the rising of described rotating speed.
5, according to the control method of each described induction motor of claim 1～4, it is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
6, a kind of control device of induction motor is when magnetic field flux is in high-intensity magnetic field magnetic flux state, carries out the control device of induction motor of the vector control of field weakening control, it is characterized in that,
Possesses the magnetic flux instruction device, it is when described high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, carry out the instruction of described magnetic field flux so that carry out the vector control of field weakening control, and when described field weakening is controlled, bigger when making described induced inside electromotive force can be changed on one side than described rated speed, Yi Bian carry out the instruction of described magnetic field flux so that carry out vector control.
7, a kind of control device of induction motor is the control device that carries out the induction motor of vector control according to the mode that the speed command that is provided is provided, it is characterized in that,
Possesses the magnetic flux instruction device, it is when high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, carry out the instruction of magnetic field flux so that carry out the vector control of field weakening control, and when the control of described field weakening, Yi Bian bigger when making described induced inside electromotive force can be changed into than described rated speed, Yi Bian carry out the instruction of described magnetic field flux so that carry out vector control.
8, the control device of induction motor according to claim 6 is characterized in that,
Described magnetic flux instruction device when described field weakening control begins, changes described magnetic field flux so that satisfy formula (1) and the relation of formula (2),
Ed[1+{%ZIq/Iqow/wB}
2]
1/2=α Edo (α＞1, Iq: constant)
…(1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, w is the power supply angular frequency of the rotating speed of induction motor, power supply angular frequency when wB is the rated speed of induction motor, the nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, L1 is the stator circuit inductance, and L2 is the rotor circuit inductance.
9, the control device of induction motor according to claim 6 is characterized in that,
Described magnetic flux instruction device when the control of described field weakening, weakens described magnetic field flux, so that the maximum voltage of the terminal voltage of the described induction motor of corresponding rising with the rising of described rotating speed when being no more than maximum overload.
10, the control device of induction motor according to claim 6 is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
11, a kind of control method of induction motor is when magnetic field flux is in high-intensity magnetic field magnetic flux state, carries out the control method of induction motor of the vector control of field weakening control, it is characterized in that,
When the rotating ratio rated speed of described induction motor is bigger, carry out described field weakening control.
12, a kind of control method of induction motor is when magnetic field flux is in high-intensity magnetic field magnetic flux state, carries out the control method of induction motor of the vector control of field weakening control, it is characterized in that,
When the rotating ratio rated speed of described induction motor is bigger, make described magnetic field flux also keep the row vector control of going forward side by side of high-intensity magnetic field magnetic flux state.
13, the control method of induction motor according to claim 11 is characterized in that,
When the control of described field weakening, change described magnetic field flux, so that the induced inside electromotive force of described induction motor is bigger during than rated speed.
14, according to the control method of claim 11 or 12 described induction motors, it is characterized in that,
When described field weakening control begins, change described magnetic field flux so that satisfy formula (1) and the relation of formula (2),
Ed[1+{%ZIq/Iqow/wB}
2]
1/2=α Edo (α＞1, Iq: constant)
…(1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, w is the power supply angular frequency of the rotating speed of induction motor, power supply angular frequency when wB is the rated speed of induction motor, the nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, L1 is the stator circuit inductance, and L2 is the rotor circuit inductance.
15, the control method of induction motor according to claim 13 is characterized in that,
When the control of described field weakening, weaken described magnetic field flux, so that the maximum voltage of the terminal voltage of the described induction motor of corresponding rising when being no more than maximum overload with the rising of described rotating speed.
16, the control method of induction motor according to claim 11 is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
17, a kind of control device of induction motor is when the magnetic field flux of induction motor is in high-intensity magnetic field magnetic flux state, carries out the control device of induction motor of the vector control of field weakening control, it is characterized in that,
Possess the magnetic flux instruction device, when its rotating ratio rated speed at described induction motor is bigger, carry out the instruction of described magnetic field flux so that carry out described field weakening control.
18, a kind of control device of induction motor is when the magnetic field flux of induction motor is in high-intensity magnetic field magnetic flux state, carries out the control device of induction motor of the vector control of field weakening control, it is characterized in that,
Possess the magnetic flux instruction device, when its rotating ratio rated speed at described induction motor is big, also carry out the instruction of described magnetic field flux, so that described magnetic field flux keeps go forward side by side row vector control of stable state.
19, according to the control device of the described induction motor of claim 17, it is characterized in that,
Described magnetic flux instruction device when the control of described field weakening, changes described magnetic field flux, so that the induced inside electromotive force of described induction motor is bigger during than rated speed.
20, according to the control device of the induction motor described in claim 17 or 18, it is characterized in that,
Described magnetic flux instruction device when described field weakening control begins, changes described magnetic field flux so that satisfy following formula,
Ed[1+{%ZIq/Iqow/wB}
2]
1/2=α Edo (α＞1, Iq: constant)
…(1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, w is the power supply angular frequency of the rotating speed of induction motor, power supply angular frequency when wB is the rated speed of induction motor, the nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, L1 is the stator circuit inductance, and L2 is the rotor circuit inductance.
21, the control device of induction motor according to claim 19 is characterized in that
Described magnetic flux instruction device when the control of described field weakening, weakens described magnetic field flux, so that the maximum voltage of the terminal voltage of the described induction motor of corresponding rising with the rising of described rotating speed when being no more than maximum overload.
22, according to the control device of the described induction motor of claim 17～21, it is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
23, the non-iron equipment of a kind of ironmaking is characterized in that,
By the control device of the described induction motor of claim 6～10, the driving of rolling equipment is controlled with induction motor.
24, a kind of rolling stock is characterized in that,
By the control device of the described induction motor of claim 6～10, the driving of rolling stock is controlled with induction motor.
25, a kind of up-coiler is characterized in that,
By the control device of the described induction motor of claim 6～10, the driving of up-coiler is controlled with induction motor.
26, a kind of boats and ships is characterized in that,
By the control device of the described induction motor of claim 6～10, the driving of boats and ships is controlled with induction motor.
27, a kind of engineering machinery is characterized in that,
By the control device of the described induction motor of claim 6～10, the main shaft drives of engineering machinery is controlled with induction motor.
28, a kind of paper machine equipment is characterized in that,
By the control device of the described induction motor of claim 6～10, the driving of paper machine equipment is controlled with induction motor.
29, a kind of conveying equipment is characterized in that,
By the described control device of claim 6～10, the conveying equipment of conveying equipment is controlled with induction motor according to induction motor.
30, a kind of control method of induction motor is when magnetic field flux is in high-intensity magnetic field magnetic flux state, carries out the control method of induction motor of the vector control of field weakening control, it is characterized in that,
When described high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, switch to the vector control of field weakening control,
When described field weakening is controlled, Yi Bian make the induced inside electromotive force when switching keep constant, Yi Bian carry out vector control.
31, a kind of control method of induction motor is the control method of carrying out the induction motor of vector control according to the mode that the speed command that is provided is provided, it is characterized in that,
When high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, switch to the vector control of field weakening control,
When described field weakening is controlled, Yi Bian make the induced inside electromotive force when switching keep constant, Yi Bian carry out vector control.
32, according to the control method of claim 30 or 31 described induction motors, it is characterized in that,
When described field weakening is controlled, change described magnetic field flux so that satisfy formula (1) and the relation of formula (2),
Ed[1+{%Z (Iq/Iqo) (w2/w1) }
2]
1/2=α Edo (α＞1, Iq: constant) ... (1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, w1 are the power supply angular frequency when field weakening control is switched, power supply angular frequency when w2 is the maximum (top) speed of field weakening control range, power supply angular frequency when wB is the rated speed of induction motor, L1 is the stator circuit inductance, L2 is the rotor circuit inductance.
33, the control method of induction motor according to claim 30 is characterized in that,
After described field weakening control beginning, weaken described magnetic field flux with the rising of described rotating speed inversely proportionally.
34, the control method of induction motor according to claim 30 is characterized in that,
To the switching of described magnetic field flux control, carry out when the maximum (top) speed from the field weakening control range of described induction motor begins velocity band till rated speed, having selected rotating speed.
35, the control method of induction motor according to claim 30 is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
36, a kind of control device of induction motor is when magnetic field flux is in high-intensity magnetic field magnetic flux state, carries out the control device of the induction motor of vector control, it is characterized in that,
Possesses the magnetic flux instruction device, it is when described high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, carry out the instruction of described magnetic field flux so that switch to the vector control of field weakening control, and when described field weakening is controlled, Yi Bian make the induced inside electromotive force when switching keep constant, Yi Bian carry out the instruction of described magnetic field flux so that carry out vector control.
37, a kind of control device of induction motor is the control device that carries out the induction motor of vector control according to the mode that the speed command that is provided is provided, it is characterized in that,
Possesses the magnetic flux instruction device, it is when high-intensity magnetic field magnetic flux state, increase the induced inside electromotive force pro rata with the rising of the rotating speed of described induction motor, when described induced inside electromotive force is bigger during than rated speed, carry out the instruction of magnetic field flux so that switch to the vector control of field weakening control, and when described field weakening is controlled, Yi Bian make the induced inside electromotive force when switching keep constant, Yi Bian carry out the instruction of described magnetic field flux so that carry out vector control.
38, the control device of induction motor according to claim 36 is characterized in that,
Described magnetic flux instruction device when described field weakening is controlled, changes described magnetic field flux so that satisfy formula (1) and the relation of formula (2),
Ed[1+{%ZIq/Iqow2/w1}
2]
1/2=α Edo (α＞1, Iq: constant) ... (1)
％Z＝Iqo·wB·(L1+L2)/Edo…(2)
Wherein, Ed is the induced inside electromotive force, Iq is a torque current, nominal torque electric current when Iqo is rated speed, the induced inside electromotive force when Edo is rated speed, w1 are the power supply angular frequency when field weakening control is switched, w2 is the power supply angular frequency of the maximum (top) speed of field weakening control range, power supply angular frequency when wB is the rated speed of induction motor, L1 is the stator circuit inductance, L2 is the rotor circuit inductance.
39, according to the control device of the described induction motor of claim 36～38, it is characterized in that,
Described magnetic flux instruction device after described field weakening control beginning, weakens described magnetic field flux with the rising of described rotating speed inversely proportionally.
40, the control device of induction motor according to claim 36 is characterized in that,
Described magnetic flux instruction device, the maximum (top) speed from the field weakening control range of described induction motor begins velocity band till the rated speed, select rotating speed based on the switching signal that is provided, when selecting rotating speed, carry out the instruction of switching to described field weakening control.
41, the control device of induction motor according to claim 36 is characterized in that,
When described high-intensity magnetic field magnetic flux state, the torque that makes described induction motor is the vector control of the permanent torque control of constant.
42, the non-iron equipment of a kind of ironmaking is characterized in that,
By the control device of the described induction motor of claim 36, control with induction motor smelting iron the driving of non-iron equipment.
43, a kind of rolling stock is characterized in that,
By the control device of the described induction motor of claim 36, the driving of rolling stock is controlled with induction motor.
44, a kind of up-coiler is characterized in that,
By the control device of the described induction motor of claim 36, the driving of up-coiler is controlled with induction motor.
45, a kind of boats and ships is characterized in that,
By the control device of the described induction motor of claim 36, the driving of boats and ships is controlled with induction motor.
46, a kind of engineering machinery is characterized in that,
By the control device of the described induction motor of claim 36, the main shaft drives of engineering machinery is controlled with induction motor.
47, a kind of paper machine equipment is characterized in that,
By the control device of the described induction motor of claim 36, the driving of paper machine equipment is controlled with induction motor.
48, a kind of conveying equipment is characterized in that,
By the control device of the described induction motor of claim 36, the conveying equipment of conveying equipment is controlled with induction motor.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004222831 | 2004-07-30 | ||
| JP2004222831A JP4410632B2 (en) | 2004-07-30 | 2004-07-30 | Induction motor control method, control device, iron and non-ferrous equipment, railway vehicle, winder, ship, machine tool, paper machine equipment and transport equipment |
| JP2004223130 | 2004-07-30 |
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| Publication Number | Publication Date |
|---|---|
| CN1728542A true CN1728542A (en) | 2006-02-01 |
| CN100375383C CN100375383C (en) | 2008-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100846001A Expired - Fee Related CN100375383C (en) | 2004-07-30 | 2005-08-01 | Control process and control device of induction motor ind. appts. |
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| Country | Link |
|---|---|
| JP (1) | JP4410632B2 (en) |
| CN (1) | CN100375383C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227166B (en) * | 2007-01-15 | 2011-05-11 | 株式会社日立产机系统 | Induction motor controller |
| CN102122912A (en) * | 2010-12-13 | 2011-07-13 | 西南铝业（集团）有限责任公司 | Direct current speed regulating system of pipe mill |
| CN101295953B (en) * | 2007-04-25 | 2012-03-28 | 株式会社日立制作所 | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
| CN106797188A (en) * | 2014-06-06 | 2017-05-31 | 大陆泰密克微电子有限责任公司 | For the method and apparatus of the operation of controlled motor |
| CN107565863A (en) * | 2017-09-30 | 2018-01-09 | 西安交通大学 | A kind of motor control method and circuit of the section stable operation of alternating current generator full rate |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7679311B2 (en) | 2007-06-29 | 2010-03-16 | Caterpillar Inc. | System and method for dynamic field weakening |
| DE102012224162A1 (en) * | 2012-12-21 | 2014-07-10 | Robert Bosch Gmbh | Method for controlling induction machine of turbo compressor in compressor system, involves effecting field strengthening rotating field for operation of induction machine to increase rotational speed of induction machine |
| JP6986464B2 (en) | 2018-02-13 | 2021-12-22 | 日立Astemo株式会社 | Motor control device and motor control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3337039B2 (en) * | 1993-05-24 | 2002-10-21 | 株式会社安川電機 | Tuning method of vector control inverter for induction motor |
| KR100284551B1 (en) * | 1998-07-14 | 2001-03-15 | 윤종용 | Weak field control method for induction motor |
| EP1583217B1 (en) * | 2002-12-12 | 2010-12-08 | NSK Ltd. | Motor drive-controlling device and electric power-steering device |
-
2004
- 2004-07-30 JP JP2004222831A patent/JP4410632B2/en not_active Expired - Fee Related
-
2005
- 2005-08-01 CN CNB2005100846001A patent/CN100375383C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227166B (en) * | 2007-01-15 | 2011-05-11 | 株式会社日立产机系统 | Induction motor controller |
| CN101295953B (en) * | 2007-04-25 | 2012-03-28 | 株式会社日立制作所 | Field weakening control apparatus for permanent magnet motor and electric power steering using same |
| CN102122912A (en) * | 2010-12-13 | 2011-07-13 | 西南铝业（集团）有限责任公司 | Direct current speed regulating system of pipe mill |
| CN106797188A (en) * | 2014-06-06 | 2017-05-31 | 大陆泰密克微电子有限责任公司 | For the method and apparatus of the operation of controlled motor |
| US10439523B2 (en) | 2014-06-06 | 2019-10-08 | Conti Temic Microelectronic Gmbh | Method and device for controlling an operation of an electric motor |
| CN106797188B (en) * | 2014-06-06 | 2020-06-16 | 大陆泰密克微电子有限责任公司 | Method and device for controlling the operation of an electric machine |
| CN107565863A (en) * | 2017-09-30 | 2018-01-09 | 西安交通大学 | A kind of motor control method and circuit of the section stable operation of alternating current generator full rate |
| CN107565863B (en) * | 2017-09-30 | 2020-06-19 | 西安交通大学 | Motor control method and circuit for stable operation of alternating current motor in full-frequency section |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4410632B2 (en) | 2010-02-03 |
| JP2006042562A (en) | 2006-02-09 |
| CN100375383C (en) | 2008-03-12 |
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