JP2008011625A - Speed sensorless vector controller of induction motor and its control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a speed sensorless vector controller which can achieve quick and smooth start, and to provide its control method. <P>SOLUTION: The speed sensorless vector controller comprises a current controller 3, a PWM control inverter 2, the same dimension flux observer 4 and speed estimation mechanism 7 for estimating/outputting a first motor flux and a first motor speed, a slip calculator 5, an adder 17 outputting a primary frequency command value, an integrator 11 outputting a motor flux phase, a speed estimator 30 for estimating/outputting a second motor speed, a current model type flux operating unit 31 for estimating/outputting a second motor flux, and adders 36 and 37 for adding two motor flux phase estimates and outputting a new motor flux estimate. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a speed sensorless vector control device for an induction motor, and is devised so that start-up can be started quickly and smoothly.

As a high-performance speed control method for induction motors, a vector control method of a slip frequency control type is widespread, and a speed sensorless vector control method for controlling this without a speed sensor is known.
For a speed sensorless vector control method that estimates the actual speed of an induction motor using a speed adaptive secondary magnetic flux observer consisting of a one-dimensional magnetic flux observer and a speed adaptive mechanism, see “The Institute of Electrical Engineers of Japan D, Vol. 111, No. 11, 1991”. (Kubota, Ozaki, Matsuse, Nakano: “Speed sensorless direct vector control of induction motor using adaptive secondary magnetic flux observer”).
First, the estimation of the motor speed of the induction motor will be briefly described.
The voltage equation of the induction motor represented by the rotating coordinate system (dq axes) rotating at the primary frequency ω1 is given by the following equation (1).

However,
v _1d , v _1q ... primary excitation axis voltage of rotating coordinate system (dq axis), primary torque axis voltage i _1d , i _1q ... primary excitation axis current of rotating coordinate system (dq axis), 1 Secondary torque axis current Φ _2d , Φ _2q ... Secondary excitation axis magnetic flux, secondary torque axis magnetic flux ω1 in the rotating coordinate system (dq axis) ………… Primary frequency ωr ………… Motor speed ωs ………… Slip angular frequency R ₁ , R ₂ ... Primary and secondary resistances L ₁ , L ₂ , M ... Primary, secondary, mutual (excitation) inductance l ......... Leakage inductance (l = (L ₁ L ₂ -M ² ) / L ₂ )
p ………… Differential operator

The relationship between the primary frequency ω1, the motor speed ωr, the slip angular frequency command value ωs *, and the calculation of the slip angular frequency command value ωs * are expressed by the following equation (2).
ω1 = ωr + ωs *,
ωs * = I _1d * / I _1q * ・ T2 (2)
T2 ………… Secondary circuit time constant (T2 = L ₂ / R ₂₎
Subscript (*): Indicates command value or set value.
Now
i _1d * = constant …………… (3)
In the above equation (1), the primary voltage command values (v1d *, v1q *) expressed in the rotating coordinate system (dq axes) under the conditions of the equations (2) and (3) are as follows: (4).

If the control is performed so as to satisfy the above equation (4), the primary current detection value i1 on the rotating coordinate system (dq axis) flows in accordance with the primary current command value i1 * (i1d *, i1q *). The secondary magnetic flux Φ2 (Φ2d, Φ2q) is
Φ _2d = Mi _1d (constant), Φ _2q = 0 (5)
To be kept.

Thereby, the generated torque τ of the induction motor is
τ = M / L ₂ · (Φ _2d · i _1q −Φ _2q · i _1d ) = M ² / L ₂ · (i _1d · i _1q ) (6)
Thus, non-interfering vector control independent of the secondary magnetic flux Φ2 (Φ2d, Φ2q) and the secondary current i2 (i2d, i2q) is established on the rotating coordinate system (dq axis).

  When the speed sensor is not used, a secondary magnetic flux observer for speed adaptation is used to estimate a secondary magnetic flux Φ2 (Φ2d, Φ2q) that satisfies the above equation (5), and the primary current (phase current) iu of the induction motor. , Iv, iw are detected and converted to a primary current detection value i1 (i1a, i1b) on the static coordinate system (ab axis). This primary current detection value i1, the primary voltage command value v1 * (v1a *, v1b *) on the stationary coordinate system (ab axis), and the estimated speed value ωr ^ (in this case, the ^ mark is an estimated value) ) And the primary current estimated value i1 ^ (i1a) by the magnetic flux observer, which is a component of the speed adaptive secondary magnetic flux observer, and the primary current estimated value Φ2 ^ (Φ2a ^, Φ2b ^). ^, I1b ^) is estimated, and the primary current estimated value i1 ^ (i1a ^, i1b ^) and the primary current detection value i1 (by the speed adaptive mechanism which is another component of the speed adaptive secondary magnetic flux observer). Based on the estimated error signal (i1-i1 ^) obtained by comparing i1a and i1b), the motor speed is calculated and estimated by the adaptive adjustment law expressed by the following equation (7).

_{ωr ^ = K p (e ia} Φ 2b ^ -e ib Φ 2a ^) + K I ∫ (e ia Φ 2b ^ -e ib Φ 2a ^) dt ... (7)
However, the estimation error e _ia = i _1a −i _1a ^ e _ib = i _1b −i _1b ^
K _p : Speed estimator proportional gain, K _I : Speed estimator integral gain

Next, a conventional speed sensorless vector control method using the speed adaptive secondary magnetic flux observer will be described with reference to FIG.
In the digital current controller 103 that performs current control, the primary current command value i1 * (i1d *, i1q *) is compared with the primary current detection value i1 (i1d, i1q), and i1q * = i1q and i1d * = i1d. The primary voltage command value v1 * (v1d *, v1q *) for controlling the PWM control inverter 102 is calculated by the above equation (4).
The primary voltage command value v1 * (v1d *, v1q *), which is the output of the digital current controller 103, is converted by the coordinate converter 109 into the primary voltage command value v1 * (on the stationary coordinate system (ab axis). v1a *, v1b *), and then converted by the two-phase to three-phase converter 115, and the primary voltage control command voltage vu *, vv *, vw * of each phase of the PWM control inverter 102. And the output voltage of the PWM control inverter 102 is controlled. As a result, the induction motor 101 is torque-controlled according to a desired torque shaft current command value i1q *.

The coordinate converter 108 performs conversion between a rotating coordinate system (dq axes) rotating at the primary frequency ω 1 and a stationary coordinate system (ab axes) fixed to the stator of the induction motor 101. , 109, the basic phase angle θ0 (θ0 = ω1 · t) for generating the unit vectors (sin θ0, cos θ0) is determined by the slip calculator 105 based on the above equation (2). The slip angle frequency command value ωs * obtained from the value i1d *, the primary torque shaft current command value i1q *, and the secondary circuit time constant T2 (= L2 / R2) of the induction motor 101, and the output of the subtractor 124 described later A certain corrected motor speed estimation value ωr ^ ′ is sent to the adder 117, and the primary frequency ω 1 obtained as the output of the adder 117 is integrated by the integrator 111 for calculating the basic phase angle.
(A description of the method of calculating the corrected motor speed estimated value ωr ^ ′ is omitted.)

  As described above, the actual motor speed ωr of the induction motor 101 is estimated using the speed adaptive mechanism 107 calculated by the above equation (7) and the speed adaptive secondary magnetic flux observer including the magnetic flux observer 104. In order to correct the deviation of the primary frequency ω1 caused by the “delay” of the estimated motor speed ωr ^ in the process of estimating the actual motor speed ωr, the stationary coordinate system (ab) estimated by the magnetic flux observer 104 is used. The coordinate value of the estimated secondary magnetic flux Φ2 ^ (Φ2a ^, Φ2b ^) on the axis) is converted into the secondary magnetic flux Φ2 ^ (Φ2d ^, Φ2q ^) on the rotating coordinate system (dq axis) by the coordinate converter 110. To do. Among these, the secondary excitation axis magnetic flux estimated value Φ2d ^ is input to the subtractor 123.

  Patent Document 2 discloses a method of obtaining a positive slip angular frequency by giving a primary angular frequency ω1 for start compensation as a time function from the start, and Patent Document 3 discloses a method for obtaining a positive slip angular frequency only for a predetermined time after the start of operation. A method has been proposed in which the operation from zero speed can be smoothly started by correcting the magnetic flux command.

Japanese Patent Laid-Open No. 08-84499 (paragraph numbers [0005] to [0041] and FIG. 1) JP 09-149667 A (paragraph numbers [0026] to [0039]) JP-A-2005-12856

  In general, there is an error between the primary voltage command value and the actual motor voltage value, and the error rate increases especially in the low speed region where the output voltage is low. Due to this voltage error, an error occurs in the amplitude and phase of the estimated secondary magnetic flux. As a result, an error occurs in the estimated motor speed value and the motor magnetic flux phase, and it is difficult to perform a quick and smooth starting operation. In Patent Document 1, since it is difficult to grasp the state until the secondary magnetic flux is established, the estimated speed is corrected after the delay time for establishing the motor secondary magnetic flux has elapsed since the induction motor was started. It is devised as follows. For this reason, since the estimated speed cannot be corrected immediately after the start of the start, it is not a measure for a smooth start. Moreover, in Patent Document 2, the primary angular frequency for compensation is given by an arbitrary time function at the time of starting to compensate for the starting. However, since the induction motor torque generated at the time of starting is assumed to be the same as the command direction, There is a problem that it cannot be applied to a machine that may be started by being pulled by a load. Furthermore, in patent document 3, since it correct | amended in the direction which weakens the magnetic flux from a driving | operation start, there existed a problem that a quick start was difficult by torque shortage.

  Accordingly, an object of the present invention is to provide a speed sensorless vector control device for an induction motor and a control method therefor that can be started quickly and smoothly even at a low speed in view of the above prior art.

  In order to solve the above-mentioned problem, the invention according to claim 1 inputs a primary current command value, a primary current detection value, and a primary frequency command value, and outputs a primary voltage command value; A PWM control inverter that outputs a voltage to the induction motor based on the primary voltage command value that is the output of the current controller, the primary current detection value and the primary voltage command value are input, and the first motor Calculates the slip frequency command value of the motor based on the excitation axis component and torque axis component of the primary current command value, the same-dimensional magnetic flux observer that estimates and outputs the magnetic flux and the first motor speed, and the output. A slip calculator for output, and a first frequency command value which is a control input of the current controller by adding the first motor speed estimated value to a slip angular frequency command value which is an output of the slip calculator. An adder for outputting to the current controller; In a speed sensorless vector control device for an induction motor comprising an integrator for integrating a wave number command value and outputting a motor magnetic flux phase, a torque command value or a torque axis component value of the primary current command value and the first motor A speed estimator that receives a speed estimation value as an input, estimates and outputs a second motor speed, inputs a second motor speed estimation value and the primary current detection value, and estimates a second motor flux. And a current model type magnetic flux calculator for output, and an adder for adding the two electric motor magnetic flux estimated values and outputting a new electric motor magnetic flux estimated value to the speed estimating mechanism. .

  According to a second aspect of the present invention, there is provided a current controller that inputs a primary current command value, a primary current detection value, and a primary frequency command value and outputs a primary voltage command value; A PWM control inverter that outputs a voltage to the induction motor based on the primary voltage command value that is an output; the primary current detection value and the primary voltage command value are input; and the first motor magnetic flux and the motor magnetic flux phase A one-dimensional magnetic flux observer, a speed estimation mechanism, and a slip calculator that calculates and outputs a slip frequency command value of the motor based on an excitation shaft component and a torque shaft component of the primary current command value; And a subtractor for subtracting a slip angular frequency command value, which is an output of the slip calculator, from the differential information of the motor magnetic flux phase and outputting a first estimated motor speed value, and a speed sensorless vector control device for an induction motor Toru A speed estimator that receives the command value or torque axis component value of the primary current command value and the first motor speed estimated value as input, and estimates and outputs a second motor speed; and a second motor speed estimation A current model type magnetic flux calculator that inputs a value and the detected primary current value, and calculates and outputs a second motor magnetic flux, and adds the two motor magnetic flux estimated values to obtain a new motor magnetic flux estimated value. An adder for outputting to the speed estimation mechanism is provided.

  According to a third aspect of the present invention, there is provided a current controller that inputs a primary current command value, a primary current detection value, and a primary frequency command value and outputs a primary voltage command value; A PWM control inverter that outputs a voltage to the induction motor based on the primary voltage command value that is an output, the primary current detection value and the primary voltage command value are input, and the first motor magnetic flux and the first A one-dimensional magnetic flux observer that estimates and outputs the motor speed, a speed estimation mechanism, and a slip calculation that calculates and outputs the slip frequency command value of the motor based on the excitation shaft component and torque shaft component of the primary current command value And a first frequency command value, which is a control input of the current controller, is output to the current controller by adding the first motor speed estimated value to a slip angular frequency command value, which is an output of the slip calculator. Integrating the primary frequency command value In the control method of a speed sensorless vector control device for an induction motor comprising an integrator that outputs a motor magnetic flux phase, the speed estimator includes a torque command value or a torque axis component value of the primary current command value and the first The second motor speed is estimated and calculated, and the current model type magnetic flux calculator inputs the second motor speed estimated value and the primary current detection value, and inputs the second motor speed estimated value. The electric motor magnetic flux is estimated and calculated and output, and the adder takes the procedure of adding the two electric motor magnetic flux estimated values and outputting a new electric motor magnetic flux estimated value to the speed estimating mechanism.

  According to a fourth aspect of the present invention, there is provided a current controller that inputs a primary current command value, a primary current detection value, and a primary frequency command value and outputs a primary voltage command value; A PWM control inverter that outputs a voltage to the induction motor based on the primary voltage command value that is an output; the primary current detection value and the primary voltage command value are input; and the first motor magnetic flux and the motor magnetic flux phase A one-dimensional magnetic flux observer, a speed estimation mechanism, and a slip calculator that calculates and outputs a slip frequency command value of the motor based on an excitation shaft component and a torque shaft component of the primary current command value; And a subtractor for subtracting a slip angular frequency command value, which is an output of the slip calculator, from the differential information of the motor magnetic flux phase and outputting a first estimated motor speed value, and a speed sensorless vector control device for an induction motor Control method The speed estimator receives the torque command value or the torque axis component value of the primary current command value and the first motor speed estimated value as inputs, estimates and outputs the second motor speed, and outputs a current model. The equation magnetic flux calculator inputs the second motor speed estimated value and the primary current detection value, estimates and outputs the second motor magnetic flux, and the adder adds the two motor magnetic flux estimated values. Then, the procedure of outputting a new motor magnetic flux estimated value to the speed estimating mechanism was taken.

  According to this induction motor speed sensorless vector control device, the second motor speed estimated value is calculated by the speed estimator having the torque command value as an input, and the second motor speed estimated value and the primary current detection value are calculated. A new motor flux phase is created by calculating the second motor flux phase with the current model type flux calculator using the, and adding (synthesizing) the same with the motor flux phase that is the same-dimensional flux observer output. To do. The current model type magnetic flux calculator has high stability in the low speed range and can perform stable motor magnetic flux calculation even at low speeds, so that the speed sensorless vector control device for induction motors can be started quickly and smoothly. Can be realized.

  According to the present invention, the speed sensorless vector control device calculates the second motor speed estimated value by the speed estimator having the torque command value as an input, the second motor speed estimated value, and the primary current detection value. A new motor flux phase is created by calculating the second motor flux phase with the current model type flux calculator using the, and adding (synthesizing) the same with the motor flux phase that is the same-dimensional flux observer output. Since the configuration is such that stable motor magnetic flux calculation can be performed even at a low speed, there is an effect that a quick and smooth start can be realized.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram of a speed sensorless vector control device for an induction motor according to a first embodiment of the present invention. In FIG. 1, in this embodiment, the coordinate converter 110, function generator 121, coefficient unit 122, and subtractors 123 and 124 are deleted from the conventional diagram shown in FIG. The motor speed estimated value ωr ^ is input to the adder 17, and the speed estimator 30 for calculating the second motor speed estimated value ωr #, the current model type magnetic flux calculator 31, the high-pass filters 32 and 33, the low-pass filter 34, 35 and adders 36 and 37 are added. The same components as those in the conventional diagram shown in FIG.

Next, the operation will be described. However, since the operations of the same-dimensional magnetic flux observer 4 and the speed estimation mechanism 7 are the same as those in the prior art shown in FIG.
The digital current controller 3 is detected by the primary current command value i1 * consisting of the excitation shaft current command value i1d * and the torque shaft current command value i1q * and the A / D converter 13, and is a three-phase to two-phase converter. 14. Current control is performed so that the primary current detection values i1 (i1d, i1q) converted to the rotating coordinate system (dq axes) by the coordinate converter 8 coincide.

  The primary voltage command value v1 * (v1d *, v1q *), which is the output of the digital current controller 3, is converted by the coordinate converter 9 and the two-phase to three-phase converter 15 into the primary voltage control command voltages vu *, vv *, It is converted into vw * and the output voltage of the PWM control inverter 2 is controlled. The phase angle θ0 for the unit vectors (sin θ0, cos θ0) used in the coordinate converters 8 and 9 is a slip angle frequency command value ωs * created by the slip calculator 5 and an output of a speed estimation mechanism 7 described later. A primary frequency ω1 obtained by adding a certain motor speed estimated value ωr ^ by an adder 17 is integrated by an integrator 11.

  The motor speed ωr of the induction motor 1 is estimated by the speed estimation mechanism 7 from the primary current command value i1 * and the primary voltage command value v1 * on the stationary coordinate system (ab axis) according to the above equation (7). While being input to the adder 17, it is input to the speed estimator 30 together with the torque command value T *. Although the torque command value T * is not shown, it is obtained by the product of the torque shaft current command value i1q * and the motor magnetic flux command value. If the motor magnetic flux command value is constant (rated value), the torque shaft current command value i1q * can be substituted.

The speed estimator 30 is configured, for example, as shown in FIG. 3, and the torque command value T * is output from the subtractor 40, that is, the motor speed estimated value ωr ^ that is the speed estimation mechanism 7 output and a second motor speed described later. The difference between the estimated value ωr ^# and the value multiplied by the coefficient unit 41 is added by the adder 42, and this added value is integrated by the integrator 43 to calculate the second motor speed estimated value ωr ^#. It outputs to the magnetic flux calculator 31. The integral gain of the integrator 43 is 1 / J (J is a total inertia value in terms of the motor shaft of the machine and the induction motor 1 not shown).

The current model type magnetic flux calculator 31 based on the current equation of the induction motor is configured, for example, as shown in FIG. 4, and the primary current detection value i1 (i1a) converted into the stationary coordinate system (ab axis) of the induction motor. , I1b) and the second motor speed estimated value ωr ^# , the coefficient units 50 and 51, the integrators 52 and 53, the feedback coefficient units 54 and 55, the adder / subtractors 56 and 57, and the multipliers 58 and 59 are used. Then, the second secondary magnetic flux estimated value Φ2 ^ (Φ2a ^, Φ2b ^) on the stationary coordinate system (ab axis) is calculated.

  Estimated secondary magnetic flux Φ2 ^ (Φ2a ^, Φ2b ^) of the same-dimensional magnetic flux observer 4 output and second secondary magnetic flux estimated value Φ2 ^ (Φ2a ^, Φ2b ^) of the current model type magnetic flux calculator 31 output After passing through the high-pass filters 32 and 33 and the low-pass filters 34 and 35, respectively, addition is performed by the adders 36 and 37, and a new estimated secondary magnetic flux Φ2 ^ (Φ2a) on the stationary coordinate system (ab axis) ^, Φ2b ^) is calculated and output to the speed estimation mechanism 7.

With this configuration, according to the present embodiment, the output of the current model type magnetic flux calculator 31 is the secondary magnetic flux estimated value Φ2 ^ (Φ2a) when the motor is stopped and started. {Circle around (2)} and the torque command T * rises, the second motor speed estimated value ωr ^# that is the output of the speed estimator 30 starts to rise. Along with this, the second secondary magnetic flux estimated value Φ2 ^ output from the current model type magnetic flux calculator 31 starts rotating, the ωr ^ output from the speed estimating mechanism 7 rises, and the phase used in the coordinate converters 8 and 9 The angle θ0 begins to change. Further, once the phase angle θ0 starts to change, the output of the same-dimensional magnetic flux observer 4 smoothly changes so as to become the main component of the secondary magnetic flux estimated value Φ2 ^ (Φ2a ^, Φ2b ^).
Thus, at the start of starting, the phase angle θ0 used in the coordinate converters 8 and 9 can be operated quickly and smoothly.

  FIG. 2 is a block diagram of a speed sensorless vector control device for an induction motor according to a second embodiment of the present invention. In FIG. 2, the difference from the previous embodiment is that a part of the arithmetic processing of the speed estimation mechanism 7 is changed to a speed estimation mechanism 7 ′, so that the integrator 11 and the adder 17 are removed, and a differentiator is used instead. 12. A subtracter 18 is added. The other components that are the same as those in FIG.

Next, the operation will be described.
The speed estimation mechanism 7 ′ uses the secondary magnetic flux estimated value Φ2 ^ (Φ2a ^, Φ2b ^) calculated by the speed estimation mechanism 7 ′ to set the phase angle θ0 ^ to tan ⁻¹ (Φ2a ^ / Φ2b ^). The calculation is output and input to the coordinate converters 8 and 9 and the differentiator 12. The differentiator 12 differentiates the phase angle θ0 ^ which is the output of the speed estimation mechanism 7 ′, outputs the primary frequency ω1, and inputs it to the subtractor 18. The subtracter 18 subtracts the slip angular frequency command value ωs *, which is the slip calculator 5 output, from the primary frequency ω1 of the differentiator 12 output, and outputs a motor speed estimated value ωr ^. The calculated primary frequency ω1 and motor speed estimated value ωr ^ are sent to the digital current controller 3 and the speed estimator 30, respectively.
Subsequent processes after the speed estimator 30, the current model type magnetic flux calculator 31, the high-pass filters 32 and 33, the low-pass filters 34 and 35, and the adder 36.37 are the same as those in the first embodiment.

  As described above, the speed sensorless vector control apparatus according to the second embodiment can obtain the same effect as that of the first embodiment because the basic idea is not changed at all, only the usage method of the speed adaptive secondary magnetic flux observer is changed. .

  The primary voltage command value v1 * (v1d *, v1q *) has been described so as to be obtained only from the output of the digital current controller 3. The next voltage command value may be calculated and added to the output of the digital current controller 3.

It is a block diagram of the speed sensorless vector control apparatus of the induction motor which concerns on the 1st Embodiment of this invention. It is a block diagram of the speed sensorless vector control apparatus of the induction motor which concerns on the 2nd Embodiment of this invention. FIG. 3 is a block diagram of a speed estimator 30 shown in FIGS. 1 and 2. FIG. 3 is a block diagram of a current model type magnetic flux calculator 31 shown in FIGS. 1 and 2. It is a block diagram of the speed sensorless vector control apparatus of the conventional induction motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Induction motor 2 PWM control inverter 3 Digital current controller 4 Same-dimensional magnetic flux observer 5 Slip calculator 6, 41, 50, 51, 54, 55 Coefficient unit 7, 7 'Speed estimation mechanism 8, 9 Coordinate converter 11, 43 , 52, 53 Integrator 12 Differentiator 13 A / D converter 14 3-phase-2 phase converter 15 2-phase-3 phase converter 17, 36, 37, 42 Adder 18, 40 Subtractor 30 Speed estimator 31 Current model type magnetic flux calculator 32, 33 High pass filter 34, 35 Low pass filter 56, 57 Adder / Subtractor 58, 59 Multiplier 101 Induction motor 102 PWM control inverter 103 Digital current controller 104 Magnetic flux observer 105 Slip calculator 107 Speed adaptation mechanism 108 , 109, 110 Coordinate converter 111 Integrator 114 Three-phase to two-phase converter 115 Two-phase to three-phase converter 117 Adder 123 and 124 subtracter

Claims (4)

A primary current command value, a primary current detection value, and a primary frequency command value are input, and a current controller that outputs a primary voltage command value, and the primary voltage command value that is the output of the current controller are A PWM control inverter that outputs a voltage to the induction motor, the primary current detection value and the primary voltage command value are input, the first motor magnetic flux and the first motor speed are estimated and calculated, and output. A magnetic flux observer, a speed estimation mechanism, a slip calculator that calculates and outputs a slip frequency command value of the motor based on an excitation shaft component and a torque shaft component of the primary current command value, and an output of the slip calculator An adder for adding the first motor speed estimated value to the slip angular frequency command value and outputting a primary frequency command value as a control input of the current controller to the current controller; and the primary frequency command value Is the product that outputs the motor magnetic flux phase. In the speed sensorless vector control for an induction motor comprising a vessel,
A speed estimator that receives a torque command value or a torque axis component value of the primary current command value and the first motor speed estimated value as input, and estimates and outputs a second motor speed;
A current model magnetic flux calculator that inputs a second motor speed estimation value and the primary current detection value, estimates and outputs a second motor magnetic flux, and
A speed sensorless vector control device for an induction motor, comprising: an adder that adds the two estimated motor magnetic flux values and outputs a new estimated motor magnetic flux value to the speed estimating mechanism. A primary current command value, a primary current detection value, and a primary frequency command value are input and a primary voltage command value is output. Based on the primary voltage command value that is the output of the current controller. A PWM control inverter that outputs a voltage to the induction motor, and a one-dimensional magnetic flux observer that inputs the primary current detection value and the primary voltage command value, and estimates and outputs the first motor magnetic flux and the motor magnetic flux phase. , A speed estimation mechanism, a slip calculator that calculates and outputs a slip frequency command value of the motor based on the excitation shaft component and the torque shaft component of the primary current command value, and the slip information from the differential information of the motor magnetic flux phase. In a speed sensorless vector control device for an induction motor, comprising a subtractor that subtracts a slip angular frequency command value that is an output of a calculator and outputs a first motor speed estimated value,
A speed estimator that receives the torque command component or the torque axis component value of the primary current command value and the first motor speed estimated value as input, and estimates and outputs the second motor speed;
A current model magnetic flux calculator that inputs a second motor speed estimation value and the primary current detection value, estimates and outputs a second motor magnetic flux, and
A speed sensorless vector control device for an induction motor, comprising: an adder that adds the two estimated motor magnetic flux values and outputs a new estimated motor magnetic flux value to the speed estimating mechanism. A primary current command value, a primary current detection value, and a primary frequency command value are input and a primary voltage command value is output. Based on the primary voltage command value that is the output of the current controller. A PWM control inverter that outputs a voltage to the induction motor, the primary current detection value and the primary voltage command value are input, the first motor magnetic flux and the first motor speed are estimated and output, and the same dimension. A magnetic flux observer, a speed estimation mechanism, a slip calculator that calculates and outputs a slip frequency command value of the motor based on an excitation shaft component and a torque shaft component of the primary current command value, and an output of the slip calculator An adder that adds the first motor speed estimated value to the slip angular frequency command value and outputs a primary frequency command value that is a control input of the current controller to the current controller; and the primary frequency command value Is the product that outputs the motor magnetic flux phase. A method for controlling a speed sensorless vector control for an induction motor comprising a vessel,
In the speed estimator, the torque command value or the torque axis component value of the primary current command value and the first motor speed estimated value are input, and the second motor speed is estimated and output,
In the current model type magnetic flux calculator, the second motor speed estimation value and the primary current detection value are input, the second motor magnetic flux is estimated and output,
The adder adds the two estimated motor magnetic flux values and outputs a new estimated motor magnetic flux value to the speed estimating mechanism. A control method for a speed sensorless vector control device for an induction motor. A primary current command value, a primary current detection value, and a primary frequency command value are input and a primary voltage command value is output. Based on the primary voltage command value that is the output of the current controller. A PWM control inverter that outputs a voltage to the induction motor, and a one-dimensional magnetic flux observer that inputs the primary current detection value and the primary voltage command value, and estimates and outputs the first motor magnetic flux and the motor magnetic flux phase. , A speed estimation mechanism, a slip calculator that calculates and outputs a slip frequency command value of the motor based on the excitation shaft component and the torque shaft component of the primary current command value, and the slip information from the differential information of the motor magnetic flux phase. In a control method of a speed sensorless vector control device for an induction motor, comprising a subtractor that subtracts a slip angular frequency command value that is an output of a calculator and outputs a first motor speed estimated value,
In the speed estimator, the torque command value or the torque axis component value of the primary current command value and the first motor speed estimated value are input, and the second motor speed is estimated and output,
In the current model type magnetic flux calculator, the second motor speed estimation value and the primary current detection value are input, the second motor magnetic flux is estimated and output,
The adder adds the two estimated motor magnetic flux values and outputs a new estimated motor magnetic flux value to the speed estimating mechanism. A control method for a speed sensorless vector control device for an induction motor.