JP2012157155A - Control device and control method for induction motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device or a control method for an induction motor that is able to obtain an equivalent rotational speed-torque characteristic to a torque motor by getting to know the rotational speed of the induction motor, calculating a torque command value from the rotational speed, and then controlling the induction motor with the use of the torque command value.SOLUTION: A control device 10 of an induction motor comprises: a torque command value calculation unit 18 for calculating a torque command value from a basic torque command value and detection speed of an induction motor 106 or an estimated speed by a speed estimation unit 112, and a torque current command value calculation unit 19 for calculating a torque current command value based on the torque command value.

Description

  The present invention relates to an induction motor control device and control method, and more particularly to an induction motor control device and control method for torque control.

  Conventionally, an induction motor control device includes an inverter circuit that supplies a three-phase drive current to an induction motor, and a PWM circuit that supplies a sinusoidal PWM signal to the inverter circuit. Various induction motor control devices that output a control signal to a PWM circuit based on a magnetic flux command signal have been proposed. (For example, see Patent Document 1)

  A conventional winding device that once feeds a material wound around a drum, such as a wire, performs some processing, and winds the material again, has a device configuration shown in FIG. The winding device 200 shown in FIG. 4 includes a feeding-side drum 201, a feeding-side torque motor 202, a feeding-side dancer roll 203, a processing block 204, a winding-side dancer roll 205, a winding-side drum 206, and a winding-side torque motor 207. And a torque motor driver (motor controller: delivery side) 208, a torque motor driver (motor controller: winding side) 209, and a programmable controller (PLC) 210.

  In the winding device 200 described above, the dancer rolls 203 and 205 shown in FIG. 4 are used in order to absorb the tension fluctuation of the material. However, the material is obtained by winding the motor at a constant tension using the torque motors 202 and 207. Tension fluctuations are suppressed. A winding control device using a torque motor is disclosed in Patent Document 2 and the like.

JP 2001-037300 A Japanese Patent Laid-Open No. 11-122982

  Since the torque motor has a rotational speed-torque characteristic as shown in FIG. 5, it is necessary to vary the motor applied voltage in order to drive the torque motor, and a V by an ordinary inverter (electric motor control device) is required. The / f control cannot be driven and a dedicated motor controller is required. Further, since the torque motor itself is very expensive, there is a problem that the system cost becomes high. Therefore, there has been a demand for a winding device using a motor driven by an inverter using a general-purpose induction motor (hereinafter referred to as a motor) instead of a torque motor.

  In view of the above problems, an object of the present invention is to grasp the rotational speed of a motor, calculate a torque command value from the rotational speed, and then control the motor with the torque command value to achieve a rotational speed equivalent to that of the torque motor. An object of the present invention is to provide a control device or control method for an induction motor capable of obtaining torque characteristics.

In order to achieve the above object, an induction motor control apparatus or control method according to the present invention is configured as follows.
A control device for a first induction motor (corresponding to claim 1) includes: an inverter unit that converts DC power into three-phase AC power based on a three-phase voltage command value; and supplies the induction motor to the induction motor; A three-phase / two-phase coordinate conversion unit that converts a flowing three-phase current into a two-phase current; and a two-phase / dq coordinate conversion unit that converts the two-phase current into a d-axis component magnetic flux current and a q-axis component torque current; A magnetic flux current control unit that generates a magnetic flux voltage command value from the magnetic flux current command value and the magnetic flux current; a torque current control unit that generates a torque voltage command value from the torque current command value and the torque current; and the magnetic flux voltage command value A dq / 2-phase coordinate converter for converting the torque voltage command value into a two-phase voltage command value; a two-phase / three-phase coordinate converter for converting the two-phase voltage command value into the three-phase voltage command value; The two-phase current and the two-phase voltage command From the magnetic flux estimator for estimating the magnetic flux of the induction motor from the magnetic flux command value and the magnetic flux controller for generating the magnetic flux current command value from the estimated magnetic flux from the magnetic flux estimator, and the estimated magnetic flux from the magnetic flux estimator A speed estimator for estimating the speed of the induction motor; a slip calculator for calculating a slip angular frequency of the induction motor from the magnetic flux current command value and the torque current command value; and a detection speed of the induction motor or the speed estimator A phase angle calculation unit that calculates a phase angle from the estimated speed from the slip and the slip angular frequency, and a torque command value from the basic torque command value and the detected speed of the induction motor or the estimated speed from the speed estimation unit A torque command value calculation unit and a torque current command value calculation unit that calculates the torque current command value based on the torque command value are provided.
In the control device for the second induction motor (corresponding to claim 2), in the above configuration, the torque command value calculation unit preferably has a relationship between the basic torque command value T ₀ ^* and the torque command value T _m ^*. The relationship between the rotational speed N and the reference rotational speed N ₀ is as follows. When N ₀ ≧ N, T _m ^* = T ₀ ^* , and when N ₀ <N, T _m ^* = T ₀ ^* (N ₀ / N), the calculation is performed.
In the third induction motor control apparatus (corresponding to claim 3), in the above configuration, preferably, the torque command value calculation unit includes a reduction rate r, a basic torque command value T ₀ ^*, and a torque command value T _m ^*. relationship with is the magnitude relationship with respect to the reference rotational speed _{N 0} of the rotational speed N, in the case of _{N 0} ≧ _N, the _^T m ^* ₌ ^{T 0} _*, in the case of ^{_{N 0 <N, T m *}} = T 0 ^{* The} calculation is performed so as to be (r · N ₀ / (N + N ₀ (r−1))).
The first induction motor control method (corresponding to claim 4) includes a step of converting DC power into three-phase AC power based on a three-phase voltage command value and supplying the three-phase AC power to the induction motor; A three-phase / two-phase coordinate conversion step for converting a three-phase current into a two-phase current; a two-phase / dq coordinate conversion step for converting the two-phase current into a d-axis component magnetic flux current and a q-axis component torque current; A magnetic flux current command value and a magnetic flux current control step for generating a magnetic flux voltage command value from the magnetic flux current; a torque current control step for generating a torque voltage command value from the torque current command value and the torque current; and the magnetic flux voltage command value and A dq / 2-phase coordinate conversion step for converting the torque voltage command value into a two-phase voltage command value; a two-phase / three-phase coordinate conversion step for converting the two-phase voltage command value into the three-phase voltage command value; A magnetic flux estimation step for estimating the magnetic flux of the induction motor from the two-phase current and the two-phase voltage command value, and a magnetic flux control step for generating the magnetic flux current command value from the magnetic flux command value and the estimated magnetic flux from the magnetic flux estimation step; A speed estimation step for estimating the speed of the induction motor from the estimated magnetic flux from the magnetic flux estimation step; a slip calculation step for calculating a slip angular frequency of the induction motor from the magnetic flux current command value and the torque current command value; From the detected speed of the induction motor or the estimated angle from the speed estimation step and the phase angle calculation step of calculating the phase angle from the slip angular frequency, the basic torque command value and the detected speed of the induction motor or the speed estimation step A torque command value calculating step for calculating a torque command value from the estimated speed of the motor, and based on the torque command value. And a torque current command value calculating step for calculating the torque current command value. A second induction motor control method (corresponding to claim 5) is preferably the above method, In the torque command value calculation step, the relationship between the basic torque command value T ₀ ^* and the torque command value T _m ^* is a magnitude relationship between the rotation speed N and the reference rotation speed N ₀ , and if N ₀ ≧ N, T _m ^{When *} = T ₀ ^* and N ₀ <N, the calculation is performed so that T _m ^* = T ₀ ^* (N ₀ / N).
The third induction motor control method (corresponding to claim 6) is the above-described method. Preferably, the torque command value calculation step includes a reduction rate r, a basic torque command value T ₀ ^*, and a torque command value T _m ^*. relationship with is the magnitude relationship with respect to the reference rotational speed _{N 0} of the rotational speed N, in the case of _{N 0} ≧ _N, the _^T m ^* ₌ ^{T 0} _*, in the case of ^{_{N 0 <N, T m *}} = T 0 ^{* The} calculation is performed so as to be (r · N ₀ / (N + N ₀ (r−1))).

  According to the present invention, a rotational speed-torque characteristic equivalent to that of a torque motor can be obtained by grasping the rotational speed of a motor, calculating a torque command value from the rotational speed, and then controlling the motor with the torque command value. It is possible to provide a control device or control method for an induction motor that can be configured as described above.

It is a block diagram which shows the structure of the control apparatus of the induction motor which concerns on this embodiment of this invention. It is a characteristic curve of the torque command value calculation in the control apparatus of the induction motor which concerns on this embodiment of this invention. It is a flowchart explaining operation | movement of the control apparatus of the induction motor which concerns on this embodiment of this invention. It is a block diagram of the conventional winding apparatus. It is a figure of the rotational speed-torque characteristic of a torque motor.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments (examples) of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing a configuration of a control device for an induction motor according to this embodiment of the present invention.

  An induction motor control device 10 (hereinafter, control device 10) shown in FIG. 1 is a control device that is connected to a three-phase AC power source 101 and a motor (IM) 106 and controls the motor 106. Circuit 103, inverter circuit 104, PWM gate signal generator 105, pulse generator (PG) sensor 107, current sensor 108, three-phase / two-phase coordinate converter 109, two-phase / dq coordinate converter 110, magnetic flux estimator 111, Speed estimator 112, feedback speed switch 113, slip calculator 114, integrator 115, magnetic flux PI controller 116, magnetic flux current PI controller 117, torque current PI controller 119, dq / 2 phase coordinate converter 120, 2 A phase / 3-phase coordinate converter 121 is provided. The control device 10 also includes a torque command value calculation unit 18, a torque current command value calculation unit 19, a speed PI controller 20, a torque limiter 21, and a torque command value switch 22.

The control device 10 drives the motor 106 using the inverter circuit 104 with the target of the magnetic flux command value φ _d ^* and the basic torque command value T ₀ ^* or the maximum speed command value ω _mmax ^* . The function of the inverter circuit 104 is realized by a power switching element. Each function described below is configured by a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. This is realized by a computer and a program stored in a ROM, a RAM, or the like.

First, the control device 10 calculates a deviation Δφ _d between the magnetic flux command value φ _d ^* and the estimated magnetic flux value φ _d ^ estimated by the magnetic flux estimator 111 by the deviation calculating unit 122, and the obtained deviation Δφ _d is the magnetic flux. Input to the PI controller 116. The magnetic flux PI controller 116 generates a magnetic flux current command value I _d ^* based on the input deviation Δφ _d . Then, the magnetic flux current command value _I ^{d *} and the deviation [Delta] _d between the magnetic flux current _{i d} of d-axis which is output from the 2-phase / dq coordinate converter 110 calculates the deviation calculation unit 123, the resulting deviation [Delta] I _d Is input to the flux current PI controller 117. Flux current PI controller 117 generates a d-axis voltage command _V ^{d *} on the basis of the input deviation [Delta] I _d.

On the other hand, in the torque command value calculation unit 18, the control device 10 uses the basic torque command value T ₀ ^* and the estimated speed value ω _m ^ estimated by the speed estimator 112 or the detected speed ω _m detected by the pulse generator sensor 107. Based on the above, the torque command value T _m ^* is calculated. When the rotational speed N is smaller than the rotational speed limit value N _max , the torque command value T _m ^* is input to the torque current command value calculation unit 19 via the torque command value switch 22, and the torque command value Based on T _m ^* , the torque current command value calculation unit 19 calculates a torque current command value I _q ^* . Further, when the rotational speed N exceeds the rotational speed limit value _{N max,} the rotation speed limit value _N maximum speed command value obtained from the _max omega _mmax ^* and velocity estimates estimated by the speed estimator 112 omega _m ^ or The deviation Δω _m from the speed ω _m detected by the pulse generator sensor 107 is calculated by the deviation calculation unit 124, and the obtained deviation Δω _m is input to the speed PI controller 20. The output is limited by the torque limiter 21 and is input to the torque current command value calculation unit 19 via the torque command value switch 22. The torque current command value calculator 19 generates a torque current command value I _q ^* based on the input signal. Next, the deviation ΔI _q between the torque current command value I _q ^* and the q-axis torque current i _q output from the two-phase / dq coordinate converter 110 is calculated by the deviation calculation unit 125, and the obtained deviation ΔI _q Is input to the torque current PI controller 119. The torque current PI controller 119 generates a q-axis voltage command V _q ^* based on the input deviation ΔI _q .

The d-axis voltage command V _d ^* output from the magnetic flux current PI controller 117 and the q-axis voltage command V _q ^* output from the torque current PI controller 119 are input to the dq / 2-phase coordinate converter 120. . The dq / 2-phase coordinate converter 120 generates a two-phase voltage command V for the α-axis and β-axis based on the d-axis voltage command V _d ^* , the q-axis voltage command V _q ^*, and the phase angle θ output from the integrator 115. _α ^* and _Vβ ^* are output. The two-phase voltage commands V _α ^* and V _β ^* are input to the two-phase / 3-phase coordinate converter 121. The two-phase / three-phase coordinate converter 121 uses the U-phase, V-phase, and W-phase three-phase voltage commands V _u ^* , V _v ^* , V based on the input two-phase voltage commands V _α ^* , V _β ^*. Generate _w ^* . The generated three-phase voltage commands V _u ^* , V _v ^* , and V _w ^* are input to a PWM (Pulse Width Moduration) gate signal generator 105. The PWM gate signal generator 105 controls the output voltage of the inverter circuit 104 according to the three-phase voltage commands V _u ^* , V _v ^* , and V _w ^* by PWM control.

In the configuration diagram of FIG. 1, the control device 10, the 3-phase motor 106 is connected, a current sensor 108 detects the current _{i w} and the U-phase current _{i u} and W-phase of the motor 106. The current sensor 108 detects currents i _w and _iu of two phases (W phase, U phase) among three phases (U phase, V phase, W phase). sum current i _v of from zero other one phase (V-phase) is determined uniquely. The speed ω _{m of the} motor 106 is detected by a pulse generator sensor 107.

The currents i _w and i _u detected by the current sensor 108 are input to the three-phase / two-phase coordinate converter 109. The three-phase / two-phase coordinate converter 109 performs three-phase / two-phase coordinate conversion based on the currents i _w and i _u to generate _α- phase and β-axis two-phase currents i _α and i _β. / Dq output to the coordinate converter 110. The two-phase / dq coordinate converter 110 outputs a d-axis magnetic flux current i _d and a q-axis torque current i _q based on the two-phase currents i _α and i _β and the phase angle θ output from the integrator 115. To do.

On the other hand, the magnetic flux estimator 111 includes the two-phase voltage commands V _α ^* and V _β ^* output from the dq / 2-phase coordinate converter 120 and the two-phase current i output from the three-phase / 2-phase coordinate converter 109. Based on _α and i _β , the α axis and β axis magnetic flux estimation values φ _α ^ and φ _β ^ are generated and output to the speed estimator 112. The speed estimator 112 generates a speed estimated value ω _m ^ based on the magnetic flux estimated values φ _α ^ and φ _β ^. The feedback speed switch 113 is a switch that can select and switch whether to use the estimated speed value ω _m ^ or the speed ω _m detected by the pulse generator sensor 107 as a speed signal used for feedback.

The slip calculator 114 is based on the magnetic flux current command value I _d ^* output from the magnetic flux PI controller 116 and the torque current command value I _q ^* output from the torque current command value calculator 19. The estimated slip speed value ω _s is calculated, and the calculator 126 inputs the estimated speed value ω _m ^ or the speed ω _m and the estimated slip speed value ω _s, and ω _e = ω _m ^ + ω _s or ω _e. = Ω _m + ω _s is calculated and the power source angular frequency (inverter output angular frequency) ω _e is output. This ω _e is converted into a phase angle θ by the integrator 115 and input to the two-phase / dq coordinate converter 110 and the dq / 2-phase coordinate converter 120.

As described above, when the motor 106 is controlled, vector control for individually controlling the magnetic flux and the torque is used. As for the torque, the speed of the motor 106 is detected by the pulse generator sensor 107, or the two-phase current i _α obtained from the motor parameters and the two-phase voltage commands V _α ^* and V _β ^* and the motor currents i _w and i _u. , I _β and the estimated magnetic flux values φ _α ^, φ _β ^ together with the estimated speed value ω _m ^, the motor 106 speed signal (ω _m ^ or ω _m ) and the basic torque command value are calculated. Based on T ₀ ^* , the torque command value calculation unit 18 calculates a torque command value T _m ^* . When the rotational speed N is smaller than the rotational speed limit value N _max , the torque command value T _m ^* is input to the torque current command value calculation unit 19 via the torque command value switch 22, and the torque command value Based on T _m ^* , the torque current command value calculation unit 19 calculates a torque current command value I _q ^* . When the rotational speed N exceeds the rotational speed limit value Nmax, the maximum speed command value ω _mmax ^* obtained from the rotational speed limit value Nmax and the estimated speed value ω _m ^ estimated by the speed estimator 112 or a pulse A deviation Δω _m from the speed ω _m detected by the generator sensor 107 is calculated by the deviation calculating unit 124, and the obtained deviation Δω _m is input to the speed PI controller 20. The output is limited by the torque limiter 21 and is input to the torque current command value calculation unit 19 via the torque command value switch 22. The torque current command value calculator 19 generates a torque current command value I _q ^* based on the input signal. On the other hand, the magnetic flux generates a magnetic flux current command value I _d ^* by performing PI control from a deviation Δφ _d between the magnetic flux command value φ _d ^* calculated from the excitation current of the motor 106 and the magnetic flux estimated value φ _d ^. Each of the current instruction value _I ^q _*, the deviation between _I ^{d *} and the current _i w of the motor 106, rotating coordinate a _{i u} obtained by coordinate transformation (q-axis, d-axis) current _i q on, _{i d} [Delta] I _q, performs PI control from [Delta] I _d, * voltage command value _{V ^q,} generates a _V ^{d *,} voltage command value finally three-phase alternating current ^{_V u} _{*, V} v _*, converted to _V ^{w *} Then, the PWM gate signal is generated to control the switching of the inverter circuit 104 to drive the motor 106.

Next, the operation of the present invention will be described with reference to FIGS. FIG. 2 is a graph for explaining the calculation performed by the torque command value calculation unit 18. The control block of FIG. 1 is a block diagram of vector control. In order to realize a rotational speed-torque characteristic equivalent to that of a torque motor, a torque command value T _m ^* is ^converted to a basic torque command by a torque command value calculation unit 18. Calculation is performed from the value T ₀ ^* and the rotational speed N of the motor 106. Further, the torque current command value calculation unit 19 calculates a torque current command value i _q ^* based on the torque command value T _m ^* . Further, when the rotational speed N is equal to or lower than the rotational speed limit value N _max , the torque command value switcher 22 switches so that the output from the torque command value calculation unit 18 is input to the torque current command value calculation unit 19. When the speed N becomes equal to or higher than the rotational speed limit value _Nmax , switching is performed so that the output from the torque limiter 21 is input to the torque current command value calculation unit 19.

Normal torque control receives an arbitrary torque command value from the outside, and outputs a torque that follows the torque command value. In the present invention, as shown in FIG. 2, the rotational speed (rotational angular frequency ω _m or estimated rotational angular frequency ω _m ^) of the motor 106 is fed back so that torque characteristics corresponding to the rotational speed can be obtained like a torque motor. Torque command value is automatically generated. The horizontal axis in FIG. 2 represents the rotational speed N, and the vertical axis represents the torque command value T _m ^* . In FIG. 2, T _m ^{* on the} vertical axis represents a reduction rate (torque reduction rate) with respect to the torque command value T ₀ ^* .

As shown in FIG. 2, the torque command value calculation unit 18 divides the torque command value T _m ^* of the motor 106 into regions of a constant torque command value and a reduced torque command value with respect to the rotational speed N. Reference rotational speed N ₀ of the motor 106 for dividing the region can be set at any value. When the rotational speed N is smaller than the reference rotational speed N ₀ , the torque command value T _m ^* is a constant torque command value that outputs 100%, and the basic torque command value T ₀ ^* that is the basic value is used for the constant torque command value. Make it output. This basic torque command value T ₀ ^* can be set as an arbitrary value. When the rotation speed N is equal to or higher than the reference rotation speed N ₀ , the reduced torque command value shown by the basic curve in FIG. 2 is obtained. For the reduced torque command value, the torque command value T _m ^* calculated by the equation (1) is output from the basic torque command value T ₀ ^* and the rotational speed N of the motor 106 (curve (basic curve) in FIG. 2).

T _m ^* = T ₀ ^* (N ₀ / N) (1)

  In order to be able to arbitrarily set the reduction rate of the reduction torque command value, it is possible to set the reduction rate r separately by input and to vary the torque characteristics freely by using the equation (2). (Curve of FIG. 2 (gain double curve 1, gain double curve 2)).

T _m ^* = T ₀ ^* (r · N ₀ / (N + N ₀ (r−1))) (2)

  The gain multiplication curve 1 in FIG. 2 is a case where r in the equation (2) is made smaller than 1, and the gain multiplication curve 2 is a case where r in the equation (2) is made larger than 1.

Alternatively, it is acceptable to set the rotation speed limit value N _max, when the rotational speed N exceeds the rotational speed limit value N _max is to switch the speed control by the rotational speed limit value N _max, danger due to the increase of the rotational speed N To avoid. That is, the torque command value switch 22 is switched from the connection with the torque command value calculation unit 18 to the connection with the torque limiter 21.

FIG. 3 is a flowchart for explaining operations performed by the torque command value calculation unit 18 and the torque command value switch 22 of the control device 10.
Step S11: The torque command value T ₀ ^* is input to the torque command value calculation unit 18.
Step S12: The estimated speed value ω _m ^ or the speed ω _m is input.
Step S13: The rotational speed N is calculated from the estimated speed value ω _m ^ or the speed ω _m .
Step S14: the rotational speed N is the reference rotational speed _{N 0} is smaller than (N _{<N 0)} it determines whether. When YES, step S15 is executed, and when NO, step S16 is executed.
Step S15: T ₀ ^* is output as it is as the torque command value T _m ^* .
Step S16: It is determined whether or not the rotational speed N is smaller than the rotational speed limit value _Nmax (N < _Nmax ). When YES, step S17 is executed, and when NO, step S18 is executed.
Step S17: T ₀ ^* (N ₀ / N) is output as the torque command value T _m ^* .
Step S18: The torque command value switch (switch) 22 is switched so that the output from the torque limiter 21 is input to the torque current command value calculation unit 19.
Then return.

Note that step S17 described _{above, T} ^{m *} as ^{_{T 0 * (r · N 0}} / (N + N 0 (r-1))) can be made to output. Further, similarly to the rotational speed-torque characteristics of the torque motor shown in FIG. 5, the output torque command value Tm * is set to be a linear function that linearly decreases as the rotational speed N increases. You can also.

  As described above, by automatically changing the torque command value according to the rotation speed of the motor, a rotation speed-torque characteristic equivalent to that of the torque motor can be obtained. Moreover, it is possible to freely set the rotational speed-torque characteristics by arbitrarily setting the rotational speed and the torque reduction rate as basic torque and reduced torque. As a result, it is possible to realize an inexpensive and stable winding device using a motor (general-purpose induction motor) for the winding device that used the torque motor.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented, and the numerical values and the compositions (materials) of the respective components Is just an example. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.

  The control apparatus and control method for an induction motor according to the present invention are used as an apparatus and a method for controlling driving of an induction motor.

DESCRIPTION OF SYMBOLS 10 Control apparatus of induction motor 18 Torque command value calculating part 19 Torque current command value calculating part 20 Speed PI controller 21 Torque limiter 22 Torque command value switching device 101 Three-phase alternating current power supply 102 Diode rectifier circuit 103 Smoothing circuit 104 Inverter circuit 105 PWM Gate signal generator 106 Induction motor (motor)
DESCRIPTION OF SYMBOLS 107 Pulse generator (PG) sensor 108 Current sensor 109 Three-phase / two-phase coordinate converter 110 Two-phase / dq coordinate converter 111 Magnetic flux estimator 112 Speed estimator 113 Feedback speed switcher 114 Slip calculator 115 Integrator 116 Magnetic flux PI Controller 117 Magnetic flux current PI controller 119 Torque current PI controller 120 dq / 2 phase coordinate converter 121 2 phase / 3 phase coordinate converter 122 Deviation calculation unit 123 Deviation calculation unit 124 Deviation calculation unit 125 Deviation calculation unit 126 Deviation calculation Part 200 Winding device 201 Delivery side drum 202 Delivery side torque motor 203 Delivery side dancer roll 204 Processing block 205 Winding side dancer roll 206 Winding side drum 207 Winding side torque motor 208 Torque motor driver (motor) Controller: Sending side)
209 Torque motor driver (motor controller: winding side)
210 Programmable controller (PLC)

Claims (6)

An inverter unit that converts DC power into three-phase AC power and supplies it to the induction motor based on the three-phase voltage command value;
A three-phase / two-phase coordinate converter for converting a three-phase current flowing through the induction motor into a two-phase current;
A two-phase / dq coordinate converter for converting the two-phase current into a d-axis component magnetic flux current and a q-axis component torque current;
A magnetic flux current command value and a magnetic flux current control unit that generates a magnetic flux voltage command value from the magnetic flux current;
A torque current control unit that generates a torque voltage command value from the torque current command value and the torque current;
A dq / 2-phase coordinate converter for converting the magnetic flux voltage command value and the torque voltage command value into a two-phase voltage command value;
A 2-phase / 3-phase coordinate converter for converting the 2-phase voltage command value into the 3-phase voltage command value;
A magnetic flux estimator for estimating the magnetic flux of the induction motor from the two-phase current and the two-phase voltage command value;
A magnetic flux control unit that generates the magnetic flux current command value from a magnetic flux command value and an estimated magnetic flux from the magnetic flux estimation unit;
A speed estimator that estimates the speed of the induction motor from the estimated magnetic flux from the magnetic flux estimator;
A slip calculator for calculating a slip angular frequency of the induction motor from the magnetic flux current command value and the torque current command value;
A phase angle calculator that calculates a phase angle from the detected speed of the induction motor or the estimated speed from the speed estimator and the slip angular frequency;
A torque command value calculation unit that calculates a torque command value from a basic torque command value and a detected speed of the induction motor or an estimated speed from the speed estimation unit;
An induction motor control device comprising: a torque current command value calculation unit that calculates the torque current command value based on the torque command value. In the torque command value calculation unit, the relationship between the basic torque command value T ₀ ^* and the torque command value T _m ^* is a magnitude relationship between the rotation speed N and the reference rotation speed N ₀ .
When N ₀ ≧ N, T _m ^* = T ₀ ^*
If N ₀ <N, then T _m ^* = T ₀ ^* (N ₀ / N)
2. The induction motor control device according to claim 1, wherein the calculation is performed so that In the torque command value calculation unit, the relationship between the reduction rate r, the basic torque command value T ₀ ^*, and the torque command value T _m ^* is a magnitude relationship between the rotation speed N and the reference rotation speed N ₀ .
When N ₀ ≧ N, T _m ^* = T ₀ ^*
When N ₀ <N, T _m ^* = T ₀ ^* (r · N ₀ / (N + N ₀ (r−1)))
2. The induction motor control device according to claim 1, wherein the calculation is performed so that Converting DC power into three-phase AC power based on the three-phase voltage command value and supplying the converted power to the induction motor;
A three-phase / two-phase coordinate conversion step for converting a three-phase current flowing through the induction motor into a two-phase current;
A two-phase / dq coordinate conversion step for converting the two-phase current into a d-axis component magnetic flux current and a q-axis component torque current;
A magnetic flux current command value and a magnetic flux current control step for generating a magnetic flux voltage command value from the magnetic flux current;
A torque current control step for generating a torque voltage command value from the torque current command value and the torque current; and
A dq / 2-phase coordinate conversion step for converting the magnetic flux voltage command value and the torque voltage command value into a two-phase voltage command value;
A 2-phase / 3-phase coordinate conversion step of converting the 2-phase voltage command value into the 3-phase voltage command value;
A magnetic flux estimation step for estimating the magnetic flux of the induction motor from the two-phase current and the two-phase voltage command value;
A magnetic flux control step for generating the magnetic flux current command value from a magnetic flux command value and an estimated magnetic flux from the magnetic flux estimation step;
A speed estimation step of estimating the speed of the induction motor from the estimated magnetic flux from the magnetic flux estimation step;
A slip calculating step for calculating a slip angular frequency of the induction motor from the magnetic flux current command value and the torque current command value;
A phase angle calculating step for calculating a phase angle from the detected speed of the induction motor or the estimated speed from the speed estimating step and the slip angular frequency;
A torque command value calculating step for calculating a torque command value from a basic torque command value and a detected speed of the induction motor or an estimated speed from the speed estimating step;
And a torque current command value calculating step for calculating the torque current command value based on the torque command value. In the torque command value calculating step, the relationship between the basic torque command value T ₀ ^* and the torque command value T _m ^* is a magnitude relationship between the rotation speed N and the reference rotation speed N ₀ .
When N ₀ ≧ N, T _m ^* = T ₀ ^*
If N ₀ <N, then T _m ^* = T ₀ ^* (N ₀ / N)
5. The method of controlling an induction motor according to claim 4, wherein the calculation is performed so that In the torque command value calculation step, the relationship between the reduction rate r, the basic torque command value T ₀ ^*, and the torque command value T _m ^* is a magnitude relationship between the rotation speed N and the reference rotation speed N ₀ .
When N ₀ ≧ N, T _m ^* = T ₀ ^*
When N ₀ <N, T _m ^* = T ₀ ^* (r · N ₀ / (N + N ₀ (r−1)))
5. The method of controlling an induction motor according to claim 4, wherein the calculation is performed so that

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