JP2012135087A - Motor control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed control technique of an AC motor capable of achieve a stable operation by suppressing speed fluctuation caused by a disturbance load torque.SOLUTION: A motor control device comprises: a speed regulator 101; a torque current regulator 102; a torque current gain part 201 which calculates an estimated torque current based on a torque current command; an acceleration/deceleration current conversion gain part 202 which calculates an estimated acceleration/deceleration current based on a rotational speed detection signal of the AC motor; a disturbance load torque observer gain part 203 which generates an estimated disturbance load torque current command by multiplying an estimated disturbance load torque current obtained by subtracting the estimated acceleration/deceleration torque current from the estimated torque current by filter processing and a conversion gain of a disturbance load torque current command; and a limiter 205 which limits a change limit of an output of the disturbance load torque observer gain part. The motor control device adds the output of the disturbance load torque observer gain part limited by the limiter to the torque command.

Description

  The present invention relates to a speed control device for an AC motor, and more particularly to a speed control device for an AC motor capable of suppressing speed fluctuation due to disturbance load torque.

  2. Description of the Related Art An AC motor speed control device generally includes a major loop speed regulator that obtains a torque current command signal based on a rotational speed detection signal and a rotational speed command signal of the AC motor, and a torque current regulator that constitutes a minor loop.

  An acceleration / deceleration torque current obtained by adding / subtracting a disturbance load torque current that causes a disturbance to the speed regulator to / from the torque current obtained from the torque current regulator becomes a torque current for accelerating / decelerating the AC motor. . The speed regulator outputs a torque current command including disturbance load torque current and acceleration / deceleration torque current to the torque current regulator, so that the rotational speed of the AC motor matches the rotational speed command signal. Can be adjusted.

  Further, the speed regulator carries a speed command response to a rotation speed command signal and a disturbance response to a disturbance load torque current, and operates so that the rotation speed of the AC motor follows the rotation speed command signal (see Patent Document 1). .

JP 7-46874 A

  In general, the response of the speed regulator of an AC motor applied to a steel rolling plant is designed according to the application of the applied equipment. The steel rolling plant includes a rolling mill for extending a material to be rolled thinly, an AC motor for driving the rolling mill, and a power converter for operating the AC motor at an arbitrary rotational speed. The AC motor speed control device is generally provided in a control circuit of a power converter that drives the motor.

  By the way, in the renewal construction of the steel rolling plant equipment, there is a case in which the existing equipment is used as it is without updating the rolling mill, and only the AC motor that drives the rolling mill and the power conversion device that drives the AC motor are updated. . In this case, considering the durability of the existing rolling mill with respect to the mechanical strength, the response of the speed regulator may have to be set to a low response.

  When controlling the rotational speed of an AC motor using only the speed regulator, the speed regulator is responsible for both the speed command response to the rotational speed command signal and the disturbance response to the disturbance load torque current. Is a low response setting.

  When the speed regulator is set to a low response setting, the rotational speed detection signal of the AC motor is used to control the alternating current motor to the rotational speed according to the rotational speed command signal for both the speed command response and the disturbance response. A sufficient speed deviation is required between the rotation speed command signal and the rotation speed command signal.

  However, since the driving speed itself is low in the low-speed driving range, the time required for the speed regulator to respond and the speed deviation that can be responded are obtained, especially for impact disturbance load torque current. I can't. For this reason, the speed regulator cannot output a torque current command that counters the disturbance load torque current, and the AC motor may stop. When the AC motor is stopped, the rolling mill is not driven and the material to be rolled cannot be processed, so that a stable operation operation cannot be realized.

  The present invention has been made in view of such problems, and provides a speed control technique for an AC motor capable of suppressing speed fluctuation due to disturbance load torque and realizing stable operation.

  In order to solve the above problems, the present invention employs the following means.

  A speed regulator that generates a torque current command based on the rotational speed command signal and the rotational speed detection signal of the AC motor, and a torque current that controls the torque current supplied to the AC motor based on the generated torque current command An adjuster, a torque current conversion gain unit for calculating an estimated torque current based on the torque current command, and an acceleration / deceleration current conversion for calculating an estimated acceleration / deceleration torque current based on the rotational speed detection signal of the AC motor The estimated disturbance load torque current obtained by subtracting the estimated acceleration / deceleration torque current from the estimated torque current is multiplied by a filter process and a disturbance load torque current command conversion gain to generate an estimated disturbance load torque current command. A disturbance load torque observer gain unit, and a limiter for limiting a change rate of an output of the disturbance load torque observer gain unit, It limited the disturbance load torque observer gain unit output is added to the torque command by limiter.

  Since the present invention has the above-described configuration, it is possible to provide a speed control technique for an AC motor that can realize a stable operation by suppressing speed fluctuation due to disturbance load torque.

It is a figure explaining 1st Embodiment. It is a figure which shows the output compensation waveform of a disturbance load torque observer control part (200). It is a figure explaining 2nd Embodiment. It is a figure which shows the output compensation waveform of a disturbance load torque observer control part (300). It is a figure explaining the speed control apparatus of an AC motor. It is a figure explaining the whole structure of a power converter device.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 6 is a diagram illustrating the overall configuration of a power conversion device to which the present invention is applied. As shown in FIG. 6, the power converter includes a forward converter (500) that converts an AC voltage into a DC voltage, an inverse converter (600) that converts a DC voltage into an AC voltage, and between the forward converter and the inverse converter. Positive side DC bus (P), neutral point side DC bus (COM), negative side DC bus (N), negative side DC bus (P) and neutral point side DC bus (COM), negative A smoothing capacitor (Cp) (Cn) connected between the side DC bus (N) and the neutral point DC bus (COM) is provided.

  The forward converter (500) converts an AC voltage obtained from the main commercial power supply (900) through the transformer (800) into a DC voltage (Ep) (En) and charges the smoothing capacitors (Cp) (Cn). By discharging, the DC voltage (Ep) (En) is controlled to be kept constant. The reverse converter (600) converts the DC voltage (Ep) (En) converted by the forward converter (500) into an AC voltage having an arbitrary frequency and amplitude, and supplies / regenerates power to the AC motor (700). Thus, the rotational speed of the AC motor is controlled at a variable speed. The rotational speed of the AC motor (700) is detected as a rotational speed detection signal by the speed detector (710), and the speed controller (610) provided in the inverse converter (600) is based on the rotational speed detection signal. To control the rotational speed of the AC motor.

FIG. 5 is a diagram illustrating an AC motor speed control device (610) provided in the power converter. The speed control device includes a major loop speed regulator (101) that obtains a torque current command signal based on the rotational speed detection signal and the rotational speed command signal of the AC motor, and a torque current regulator (102) that constitutes a minor loop. Prepare. In FIG. 5, the acceleration / deceleration torque current can be obtained by adding / subtracting the disturbance load torque current to / from the torque current output from the torque current adjuster (102). Further, the rotational speed of the AC motor (103) is controlled by the obtained acceleration / deceleration torque current. The detection signal of the rotational speed of the AC motor is multiplied by the gain of the speed detection gain unit (104) and fed back to the speed regulator (101) as a rotational speed detection signal. The disturbance load torque current simulates a current corresponding to an additional torque applied to the AC motor as a disturbance such as biting of the material to be rolled. Here, the transfer functions of the speed regulator (101), the torque current regulator (102), the AC motor (103), and the speed detection gain unit (104) are respectively expressed by equations (1) to (4).

(However, Kn: Speed regulator proportional gain, Tn2: Speed regulator integral time constant,
KACR: torque current conversion gain, Tc: torque current regulator integral time constant,
(ζφ: torque coefficient, J: moment of inertia)
FIG. 1 is a diagram for explaining a first embodiment of the present invention. FIG. 1 shows a configuration in which a disturbance load torque observer control unit (200) is added to the speed control loop shown in FIG.

  In FIG. 1, a disturbance load torque observer control unit (200) includes a torque current conversion gain unit (201), an acceleration / deceleration current conversion gain unit (202), a disturbance load torque observer control gain unit (203), and a disturbance load torque observer. A rate limiting limiter group (205) for variably limiting the rate of change in response of the control gain unit in accordance with the operating rotational speed of the AC motor, and a limiter having a desired limiter characteristic from the limiter group to the rotational speed. A changeover switch (204) to be selected is provided.

  The torque current conversion gain unit (201) estimates the torque current output by the torque current regulator (102) from the output torque current command of the speed regulator (101). The acceleration / deceleration current conversion gain unit (202) estimates an acceleration / deceleration torque current for accelerating / decelerating the rotation speed of the AC motor based on the rotation speed detection signal of the AC motor.

  The estimated disturbance load torque current can be obtained by subtracting the acceleration / deceleration torque current estimated by the acceleration / deceleration current conversion gain unit (202) from the torque current estimated by the torque current conversion gain unit (201). .

  The disturbance load torque observer gain unit (203) performs a process of multiplying the estimated disturbance load torque current by a filter process and a disturbance load torque current command conversion gain to obtain an estimated disturbance load torque current command signal.

The transfer functions of the torque current conversion gain unit (201), the acceleration / deceleration current conversion gain unit (202), and the disturbance load torque observer gain unit (203) are expressed by equations (5) to (7), respectively.

(Kb: Disturbance load torque current command conversion gain, Tb: Filter time constant)
FIG. 2 shows an output compensation waveform of the disturbance load torque observer control unit (200) in the first embodiment.

  As described above, in the plant renewal work, the rolling mill is not renewed, but only the AC motor that drives the rolling mill and the power converter that drives the AC motor are updated. The disturbance load response may have to be lowered due to constraints on the dynamic strength.

  In such a case, a plurality of rate limiting limiters (limiter group 205) for limiting the response of the disturbance load torque observer control unit (200) to various rates (change speeds) are arranged, and these limiters are connected to the AC motor. The changeover switch (204) is used in accordance with the rotational speed. As a result, it is possible to realize speed control of the AC motor that takes into account the mechanical strength burden of the existing rolling mill and can cope with the impact disturbance load in the low speed operation region.

  That is, during low-speed operation, the limit by the rate limit limiter (205) is weakened (high rate setting), and the disturbance load torque observer output is set to a high response setting. Thereby, the disturbance load torque observer output is released from the limit by the limiter in a short time. Thus, by setting the response of the disturbance load torque observer control unit (200) high, the speed deviation between the rotation speed detection signal and the rotation speed command signal with respect to the impact disturbance load can be suppressed to the minimum, and the AC motor Can be minimized.

  On the other hand, during high-speed operation of the AC motor, disturbance load torque observer control is performed by considering the mechanical strength burden of the existing rolling mill and strengthening the limit by the rate limit limiter (205) (low rate setting). The response of the part (200) is limited. That is, by setting the response of the disturbance load torque observer control unit (200) low by the rate limiter (205), the mechanical strength burden of the rolling mill against the disturbance load is reduced.

  As described above, according to the present embodiment, it is possible to control the speed of the AC motor with respect to the impact disturbance load in the low speed operation region while reducing the mechanical strength burden of the rolling mill.

  FIG. 3 is a diagram for explaining a second embodiment of the present invention, in which a disturbance load torque observer control unit (300) is added to the speed control loop shown in FIG.

  In FIG. 3, a disturbance load torque observer control unit (300) includes a torque current conversion gain unit (201), an acceleration / deceleration current conversion gain unit (202), a disturbance load torque observer control gain unit (203), and a disturbance load torque. An observer output adjustment gain unit (301) is provided. Here, the disturbance load torque observer output adjustment gain unit (301) limits the output of the disturbance load torque observer gain unit (203), and gradually reduces the output in accordance with the AC motor operation rotational speed.

  The torque current conversion gain unit (201) estimates the torque current output by the torque current regulator (102) based on the output torque current command of the speed regulator (101). The acceleration / deceleration current conversion gain unit (202) estimates an acceleration / deceleration torque current for accelerating / decelerating the rotation speed of the AC motor based on the rotation speed detection signal of the AC motor.

  The estimated disturbance load torque current can be obtained by subtracting the acceleration / deceleration torque current estimated by the acceleration / deceleration current conversion gain unit (202) from the torque current estimated by the torque current conversion gain unit (201). .

  The disturbance load torque observer gain unit (203) performs a process of multiplying the estimated disturbance load torque current by a filter process and a disturbance load torque current command conversion gain to obtain an estimated disturbance load torque current command signal.

  FIG. 4 shows an output compensation waveform of the disturbance load torque observer control unit (300) in the second embodiment.

  As described above, in the renewal work of the plant, when the rolling mill is not updated, only the AC motor that drives the rolling mill and the power converter that drives the AC motor are updated, etc., the machine of the existing rolling mill The disturbance load response may have to be lowered due to constraints on the dynamic strength.

  In such a case, by providing a disturbance load torque observer control output adjustment gain unit (301) that variably limits the output compensation amount of the disturbance load torque observer gain unit (203) according to the AC motor operation rotation speed, Considering the mechanical strength burden of the existing rolling mill, it becomes possible to control the speed of the AC motor with respect to the impact disturbance load in the low speed operation region.

  That is, at the time of low speed, the output restriction by the disturbance load torque observer control output adjustment gain unit (301) is set to be weak, and the restriction on the disturbance load torque observer output compensation amount is set to be weak (not limited). As a result, the speed deviation between the rotational speed detection signal and the rotational speed command signal with respect to the disturbance load can be suppressed to a minimum, and the AC motor speed control during low-speed operation can be performed while minimizing the possibility that the AC motor will stop. Make it possible.

  On the other hand, during high-speed operation of the AC motor, the disturbance load torque observer output compensation amount is limited by the disturbance load torque observer control output adjustment gain unit (301) in consideration of the mechanical strength burden of the existing rolling mill. Thereby, the disturbance response with respect to disturbance load will be borne by the speed regulator which is a low response setting, and the mechanical strength burden to the rolling mill can be reduced.

  As described above, the disturbance load torque observer control output adjustment gain unit (301) is set so as to gradually reduce the output from the low speed operation to the high speed operation according to the rotational speed of the AC motor. . Thereby, the fluctuation | variation of a sudden disturbance response can be prevented and the stable driving | operation of an AC motor can be implement | achieved.

  As described above, according to the present embodiment, it is possible to stably control the speed of the AC motor with respect to the impact disturbance load in the low speed operation region while reducing the mechanical burden on the rolling mill.

101 Speed regulator
102 Torque current regulator
103 AC motor / torque coefficient
104 Speed detection gain section
200 Disturbance load torque observer controller
201 Torque current conversion gain section
202 Acceleration / deceleration current conversion gain section
203 Disturbance load torque observer gain section
204 selector switch
205 Rate limiter group
300 Disturbance load torque observer controller
301 Disturbing load torque observer output adjustment gain unit 500 Forward converter 600 Reverse converter 700 AC motor
710 Speed detector
610 Speed control device
800 Main transformer
900 Main commercial power supply

Claims (4)

A speed regulator that generates a torque current command based on the rotational speed command signal and the rotational speed detection signal of the AC motor;
A torque current regulator for controlling the torque current supplied to the AC motor based on the generated torque current command;
A torque current conversion gain unit for calculating an estimated torque current based on the torque current command;
An acceleration / deceleration current conversion gain unit for calculating an estimated acceleration / deceleration torque current based on the rotation speed detection signal of the AC motor;
A disturbance load torque observer for generating an estimated disturbance load torque current command by multiplying the estimated disturbance load torque current obtained by subtracting the estimated acceleration / deceleration torque current from the estimated torque current by a filter process and a disturbance load torque current command conversion gain. A gain section;
A limiter for limiting the rate of change of the output of the disturbance load torque observer gain section;
An electric motor control device characterized by adding the disturbance load torque observer gain section output limited by the limiter to the torque command. The electric motor control device according to claim 1,
The motor control device according to claim 1, wherein the limiter gradually increases a limit from a low speed operation to a high speed operation according to a rotation speed of the AC motor. A speed regulator that generates a torque current command based on the rotational speed command signal and the rotational speed detection signal of the AC motor;
A torque current regulator for controlling the torque current supplied to the AC motor based on the generated torque current command;
A torque current conversion gain unit for calculating an estimated torque current based on the torque current command;
An acceleration / deceleration current conversion gain unit for calculating an estimated acceleration / deceleration torque current based on the rotation speed detection signal of the AC motor;
A disturbance load torque observer for generating an estimated disturbance load torque current command by multiplying the estimated disturbance load torque current obtained by subtracting the estimated acceleration / deceleration torque current from the estimated torque current by a filter process and a disturbance load torque current command conversion gain. A gain section;
A disturbance load torque observer output adjustment gain unit for limiting the output of the disturbance load torque observer gain unit;
An electric motor control device, wherein the disturbance load torque observer gain unit output limited by the disturbance load torque observer output adjustment gain unit is added to the torque command. In the electric motor control device according to claim 3,
The disturbance load torque observer output adjustment gain unit gradually reduces the output from a low speed operation to a high speed operation according to the rotational speed of the AC motor.

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