JP2023141655A - Wound induction motor control device and method, and wound induction motor system - Google Patents

Abstract

To provide wound induction motor control device and method, and a wound induction motor system that can automatically change a secondary resistance value.SOLUTION: A wound induction motor control device according to the present invention includes a secondary resistance unit RU that is connected to a secondary winding of a wound induction motor IM and has a variable resistance value, a pattern generation unit 12 that generates a plurality of different time-series resistance value patterns in the secondary resistance unit RU, a prediction unit 13 that predicts, for each of the plurality of time-series resistance value patterns, the value of a predetermined physical quantity related to the control purpose of the motor IM as a predicted value when the resistance value of the secondary resistance unit RU is changed in the time-series resistance value pattern, a pattern selection unit 14 that selects, from the plurality of time-series resistance value patterns, a time-series resistance value pattern corresponding to the predicted value with the highest evaluation among the predicted values of the motor IM, and a secondary resistance control unit 15 that controls the secondary resistance unit RU on the basis of this selected time-series resistance value pattern.SELECTED DRAWING: Figure 1

Description

The present invention provides a wound-type induction motor control device and a wound-type induction motor control method for controlling a wound-type induction motor including a primary winding and a secondary winding, as well as a wound-type induction motor control device. The present invention relates to a wound induction motor system comprising:

Induction motors are broadly classified into wound induction motors and squirrel cage induction motors. This wound induction motor can perform torque control and rotational speed control through secondary resistance control, and is therefore used in equipment that requires relatively large capacity, such as pumps, trains, and cranes. Regarding this secondary resistance control, for example, there is Patent Document 1.

This Patent Document 1 discloses a wound induction motor, a speed detector, a diode rectifier, a secondary resistor, and a rotational speed of the wound induction motor detected by the speed detector that is 50% of the rated rotational speed. %] to 70[%] or more, the secondary winding of the wound induction motor is connected to the diode rectifier via a conductor, and when it is less than the above value, the secondary winding is connected to the secondary resistor. , and a secondary switching control circuit connecting the secondary winding of the wound induction motor via another conductor.

Japanese Patent Application Publication No. 2005-229725

Incidentally, although it is shown in FIGS. 1 to 3 that the secondary resistor of Patent Document 1 can vary its resistance value, a method for varying the resistance value is not disclosed. Generally, the resistance value of the secondary resistor is manually changed, for example, to obtain a desired rotation speed.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to provide a control device for a wound induction motor, a control method for a wound induction motor, and a control method for a wound induction motor, which can automatically change the secondary resistance value. An object of the present invention is to provide a wound induction motor system including a control device for a wound induction motor.

As a result of various studies, the present inventors have found that the above object can be achieved by the following present invention. That is, a control device for a wound induction motor according to one aspect of the present invention is a device for controlling a wound induction motor that includes a primary winding and a secondary winding, and is connected to the secondary winding. , a secondary resistance section having a variable resistance value, a pattern generation section that generates a plurality of time-series resistance value patterns in the secondary resistance section so as to be different from each other, and a plurality of time series resistance patterns generated by the pattern generation section. For each of the serial resistance value patterns, the value of a predetermined physical quantity related to the control purpose of the wound induction motor when the resistance value of the secondary resistance section is changed in the time-series resistance value pattern is predicted as a predicted value. Among the plurality of time-series resistance value patterns generated by the prediction unit and the pattern generation unit, the predicted value corresponds to the highest evaluated predicted value among the predicted values of the wound induction motor predicted by the prediction unit. It includes a pattern selection section that selects a time-series resistance value pattern, and a secondary resistance control section that controls the secondary resistance section based on the time-series resistance value pattern selected by the pattern selection section.

Since such a control device for a wound induction motor can determine the resistance value of the secondary resistance section through predictive control, the secondary resistance value can be automatically changed.

In another aspect, in the above-described control device for a wound induction motor, the secondary resistance section includes a resistance element and a changeover switch that switches whether or not to connect the resistance element to the secondary winding. At least one resistance element unit is provided. Preferably, in the above-described controller for a wound induction motor, the secondary resistance section includes a plurality of resistance element units connected in cascade.

In such a control device for a wound wire induction motor, the resistance value pattern can be increased by a simple method of increasing the resistance element units by cascade connection. By increasing the number of resistive element units, predetermined physical quantities related to the control purpose of the wound induction motor can be set finely (because they can be set with high resolution), so the wound induction motor can be finely controlled (can be controlled with high resolution).

In another aspect, in the above-described control device for a wound induction motor, the predetermined physical quantity related to the control objective of the wound induction motor is a rotational speed.

According to this, it is possible to provide a control device for a wound induction motor that can control the rotational speed.

In another aspect, in the above-described control device for a wound induction motor, the predetermined physical quantity related to the purpose of controlling the wound induction motor is torque.

According to this, it is possible to provide a control device for a wound induction motor that can control torque.

In another aspect, in the above-described control device for a wound induction motor, the pattern selection unit selects the predicted value with the highest evaluation by using an evaluation value based on a deviation between the control target value and the predicted value. Select.

Since such a controller for a wound induction motor evaluates a predicted value using an evaluation value based on the deviation between the control target value and the predicted value, it is possible to select a predicted value that is highly responsive to the control target value.

In another aspect, in the above-described control device for a wound induction motor, when generating the plurality of time-series resistance value patterns, the pattern generation unit generates two resistance values arranged one behind the other in time series. When a plurality of variable resistance values that can be generated in the secondary resistance section are arranged in order of magnitude, the following resistance value is the previous resistance value, the resistance value that is one value larger than the previous resistance value, and Select from resistance values that are one value smaller than the previous resistance value.

Such a control device for a wound induction motor controls the secondary resistance section so that the resistance value is shifted by one value from the two resistance values arranged one after the other in time series, so that it can be driven smoothly. Can control wound induction motors.

A method for controlling a wound type induction motor according to another aspect of the present invention provides a method for controlling a wound type induction motor including a primary winding and a secondary winding connected to a secondary resistance section having a variable resistance value. A method for controlling, comprising: a pattern generation step of generating a plurality of time-series resistance value patterns in the secondary resistance section so as to be different from each other; and each of the plurality of time-series resistance value patterns generated in the pattern generation step. a prediction step of predicting the value of a predetermined physical quantity related to the control purpose of the wound induction motor as a predicted value when the resistance value of the secondary resistance section is changed in the time-series resistance value pattern; and A time-series resistance value pattern corresponding to the highest evaluated predicted value among the predicted values of the wound induction motor predicted in the prediction step from among the plurality of time-series resistance value patterns generated in the generation step. and a secondary resistance control step of controlling the secondary resistance section based on the time-series resistance value pattern selected in the pattern selection step.

Such a control method for a wound induction motor allows the resistance value of the secondary resistance section to be determined by predictive control, so that the secondary resistance value can be automatically changed.

A wound induction motor system according to another aspect of the present invention includes a wound induction motor including a primary winding and a secondary winding, and a wound induction motor control unit that controls the wound induction motor. The wound-type induction motor control unit is any one of the above-mentioned wound-type induction motor control devices.

According to this, it is possible to provide a wound induction motor system including any one of the above-described controllers for a wound induction motor. Since the above-mentioned wound induction motor system is equipped with any of the above-mentioned control devices for the wound induction motor, the resistance value of the secondary resistance section can be determined by predictive control, so the secondary resistance value can be automatically changed. .

The control device for a wound induction motor and the control method for a wound induction motor according to the present invention can automatically change the secondary resistance value. According to the present invention, it is possible to provide a wound induction motor system including the above-mentioned control device for a wound induction motor.

FIG. 1 is a diagram showing the configuration of a wound induction motor system in an embodiment. FIG. 3 is a diagram for explaining an example of a time-series resistance value pattern that can be realized in a secondary resistance section of the wound induction motor system. It is a flowchart which shows the operation|movement in the said wound wire induction motor system. FIG. 7 is a diagram for explaining an example of a time-series resistance value pattern when constraints are set. It is a figure which shows the simulation result in the case of no load. It is a figure which shows the simulation result when load torque is applied. It is a figure showing a schematic structure when the above-mentioned wound wire induction electric system is applied to a trolley bogie. FIG. 8 is a diagram showing simulation results when the wound induction electric system shown in FIG. 7 is applied to a trolley. It is a figure which shows the simulation result of a comparative example.

Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. It should be noted that structures with the same reference numerals in each figure indicate the same structure, and the description thereof will be omitted as appropriate. In this specification, when referring to a general term, a reference numeral without a subscript is used, and when referring to an individual configuration, a reference numeral with a suffix is used.

A wound induction motor system in an embodiment includes a wound induction motor including a primary winding and a secondary winding, and a wound induction motor control unit that controls the wound induction motor. The wound type induction motor control section is configured to control a secondary resistance section connected to the secondary winding and having a variable resistance value, and a plurality of time-series resistance value patterns in the secondary resistance section so as to be different from each other. , for each of the plurality of time-series resistance value patterns generated by the pattern generation section and the pattern generation section, the winding when the resistance value of the secondary resistance section is changed in the time-series resistance value pattern. a prediction unit that predicts the value of a predetermined physical quantity related to the control purpose of the linear induction motor as a predicted value; and the winding shape predicted by the prediction unit from among a plurality of time-series resistance value patterns generated by the pattern generation unit. a pattern selection section that selects a time-series resistance value pattern corresponding to the predicted value with the highest evaluation among the respective predicted values of the induction motor; and a secondary resistance control section that controls the secondary resistance section. Hereinafter, a wound induction motor system including such a controller for a wound induction motor will be described in more detail.

FIG. 1 is a diagram showing the configuration of a wound induction motor system in an embodiment. FIG. 1A shows the entire system, and FIG. 1B is a block diagram showing the configuration of the MPC control section. FIG. 2 is a diagram for explaining an example of a time-series resistance value pattern that can be realized in the secondary resistance section of the wound induction motor system.

For example, as shown in FIG. 1A, the wound induction motor system SM in the embodiment includes a wound induction motor IM including a primary winding and a secondary winding, a predictive control control unit (MPC control unit) CL, , and a secondary resistance unit RU. In this embodiment, as will be understood from the description below, these secondary resistance unit RU and MPC control unit CL are a wound induction motor control unit that controls the wound induction motor, that is, an example of a linear induction motor control device. corresponds to

Three-phase AC power is supplied to the wound induction motor IM from an unillustrated power supply, and a secondary resistance unit RU is connected to its secondary winding.

The secondary resistance unit RU is a resistor with a variable resistance value. The secondary resistance unit RU is connected to the MPC control unit CL, and changes its resistance value under the control of the MPC control unit CL. The secondary resistance unit RU may be a slider type variable resistor, a rotary type variable resistor, etc. that can electrically control the slider position, rotational position, etc., but for example, in this embodiment, the secondary resistance unit RU is a resistance element. R, and a changeover switch S for switching whether or not to connect the resistance element R to the secondary winding. (change resistance value). In the example shown in FIG. 1A, the secondary resistance unit RU includes four first to fourth resistance element units UT ₁ to UT ₄ , and has a resistance value R _rm of the secondary winding in the wound induction motor IM. As shown in Table 1 below, the resistance value on the secondary side (secondary circuit, secondary winding side) can be changed in five steps.

More specifically, the fourth resistance element unit UT ₄ includes a first phase resistance element R 4 , a second phase resistance element R ₄ , a third phase resistance element R ₄ , and a first phase resistance element R ₄ . It includes a switch _S4 that turns on and off the connection with the second phase, a switch _S4 that turns on and off the connection between the second and third phases, and a switch _S4 that turns on and off the connection between the third and first phases. , connected to the secondary winding. The third resistance element unit UT ₃ connects the first phase resistance element R ₃ , the second phase resistance element R ₃ , the third phase resistance element R ₃ , and the first phase and the second phase. A fourth resistance element unit comprising a switch _S3 that turns on and off, a switch _S3 that turns on and off the connection between the second phase and the third phase, and a switch _S3 that turns on and off the connection between the third phase and the first phase. Cascaded to UT ₄ . Similarly, the second resistance element unit UT ₂ includes a first phase resistance element R ₂ , a second phase resistance element R ₂ , a third phase resistance element R ₂ , and a first phase resistance element and a second phase resistance element R 2 . a switch _{S2 that} turns on and off the connection between the second phase and the third phase; a switch _S2 that turns on and off the connection between the third phase and the first phase; It is cascade-connected to the resistive element unit _UT3 . The first resistance element unit UT ₁ connects a first phase resistance element R ₁ , a second phase resistance element R ₁ , a third phase resistance element R ₁ , and a connection between the first phase and the second phase. It includes a switch _S1 that turns on and off, a switch _S1 that turns on and off the connection between the second phase and the third phase, and a switch _S1 that turns on and off the connection between the third phase and the first phase. The second phase and the third phase are wired together. In other words, the first phase line includes the first phase resistance element R ₄ in the fourth resistance element unit UT ₄ and the first phase resistance element R in the third resistance element unit UT ₃ from the secondary winding. _3. The first phase resistance element R ₂ in the second resistance element unit UT ₂ and the first phase resistance element R ₁ in the first resistance element unit UT ₁ are connected in series in this order, and the second phase line , from the secondary winding to the second phase resistance element R ₄ in the fourth resistance element unit UT ₄ , the second phase resistance element R ₃ in the third resistance element unit UT ₃ , and the second resistance element unit UT. The _second phase resistance element R ₂ in the first resistance element unit UT 2 and the second phase resistance element R ₁ in the first resistance element unit UT ₁ are connected in series in this order, and the third phase line is connected to the secondary winding. , the third phase resistance element R ₄ in the fourth resistance element unit UT ₄ , the third phase resistance element R ₃ in the third resistance element unit UT ₃ , the third phase resistance element in the second resistance element unit UT ₂ R ₂ and the third phase resistance element R ₁ in the first resistance element unit UT ₁ are connected in series in this order, and the resistance elements R ₁ , R ₁ , R ₁ of each phase are connected to each other. Each switch S 4 , S ₄ , S ₄ in the fourth resistance element unit UT ₄ is connected between the secondary winding and the resistance elements R ₄ , R ₄ , _{R 4} of each phase in the fourth resistance element unit UT ₄ . between the resistance elements R 4 , R _{4 ,} R ₄ of each phase in the fourth resistance element unit UT ₄ and the resistance elements R ₃ , R ₃ , R ₃ of each phase in the third resistance element unit UT ₃ . Each switch S ₃ , S ₃ , S ₃ in the third resistance element unit UT ₃ is arranged, and the resistance elements R ₃ , R ₃ , R ₃ of each phase in the third resistance element unit UT ₃ and the second resistance element unit UT are arranged. Each switch S ₂ , _{S 2} , S ₂ in the second resistance element unit UT ₂ is arranged between the resistance elements R ₂ , R ₂ , R ₂ of each phase in the second resistance element unit UT ₂ . Each switch S 1 in the first resistance element unit UT ₁ is connected between the resistance elements R ₂ , _{R 2} , R ₂ of the phase and the resistance elements R 1 , R ₁ , R ₁ of each phase in the first resistance element unit UT _{1 .} , S ₁ and S ₁ are arranged. Each of these switches S ₄ , S ₄ , S ₄ , S ₃ , S ₃ , S ₃ , S ₂ , S ₂ , S ₂ , S ₁ , S ₁ , S ₁ is connected to the MPC control unit CL to turn it on/off. is controlled by the MPC control unit CL. Each of these switches S ₄ , S ₄ , S ₄ , S ₃ , S ₃ , S ₃ , S ₂ , S ₂ , S ₂ , S ₁ , S ₁ , S ₁ is, for example, an insulated gate bipolar transistor ( It is configured to include so-called power switching elements such as IGBT). Note that the symbol R of the resistance element also represents its resistance value for convenience of explanation.

In the secondary resistance unit RU having such a configuration, when changing to the first resistance value, the number of notch stages n=1, and as shown in Table 2 below, all the switches S ₄ , S ₄ , S ₄ , S ₃ , S ₃ , S ₃ , S ₂ , S ₂ , S ₂ , S ₁ , S ₁ , and S ₁ are controlled to be OFF, and this first resistance value R _r ¹ is shown in Table 1. Thus, R _rm +R ₄ +R ₃ +R ₂ +R ₁ (R _r ¹ =R _rm +R ₄ +R ₃ +R ₂ +R ₁ ). In the case of changing to the second resistance value, the number of notch stages is n=2, and as shown in Table 2, only the switches S ₁ , S ₁ , and S ₁ of the first resistance element unit TU ₁ are turned ON. The remaining switches S ₃ , S ₃ , S ₃ , S ₂ , S ₂ , S ₂ , S ₁ , S ₁ , S ₁ are turned off, and this second resistance value R _r ² is As shown in FIG. 1, R _rm +R ₄ +R ₃ +R ₂ (R _r ² =R _rm +R ₄ +R ₃ +R ₂ ). In the case of changing to the third resistance value, _the number of notch stages n=3, and as _{shown in Table 2, each switch S 1 ,} S ₁ , S ₁ , S ₂ , S ₂ , and S ₂ are controlled to be on, and the remaining switches S ₄ , S ₄ , S ₄ , S ₃ , S ₃ , and S ₃ are controlled to be OFF, and this third resistance value R _r ³ is , as shown in Table 1, R _rm +R ₄ +R ₃ (R _r ³ =R _rm +R ₄ +R ₃ ). In the case of changing to the fourth resistance value, the number of notch stages n=4, and as _{shown in Table 2, each switch S 1 , S 1 ,} S ₁ , S ₂ , S ₂ , S ₂ , S ₂ , S ₂ , S ₂ are controlled to be on, and only the remaining switches S ₄ , S ₄ , S ₄ are controlled to be off, and this fourth resistance value As shown in Table 1, R _r ⁴ is R _rm +R ₄ (R _r ⁴ =R _rm +R ₄ ). In the case of changing to the fifth resistance value, the number of notch stages n=5, and as shown in Table 2, all the switches S ₄ , S ₄ , S ₄ , S ₃ , S ₃ , S ₃ , S ₂ , S ₂ , S ₂ , S ₁ , S ₁ , and S ₁ are controlled to be on, and the fifth resistance value R _r ⁵ becomes R _rm as shown in Table 1 (R _r ⁵ =R _rm , that is, , the resistance value of the secondary resistance unit RU is 0).

Note that when increasing the number of resistance values of the secondary resistance unit RU in the example shown in FIG. 1A, the number of resistance element units UT corresponding to the number of resistance values to be increased is sequentially added to the first resistance element unit TU ₁ . They may be connected in cascade and each phase in the terminal resistive element unit UT may be connected to each other. That is, in this embodiment, one of the resistance values on the secondary side includes the resistance value _Rrm of the secondary winding in the wound induction motor IM (because it includes the resistance value 0 of the secondary resistance section RU). ), when the number of resistance values on the secondary side is α, the secondary resistance unit RU includes first resistance element units TU of the number (α-1) obtained by subtracting 1 from the number α, which are sequentially connected in cascade. It can be configured by

The MPC control unit CL is a device for controlling the wound induction motor IM through predictive control by controlling the resistance value of the secondary resistance unit RU. The MPC control unit CL is composed of, for example, a microcomputer including a CPU (Central Processing Unit), a memory, and its peripheral circuits. The MPC control unit CL is functionally configured with a control unit 11, a pattern generation unit 12, a prediction unit 13, a pattern selection unit 14, and a secondary resistance control unit 15 by executing a predetermined program.

The control unit 11 controls each part of the wound induction motor system SM according to the function of each part, and controls the entire wound induction motor system SM.

The pattern generation unit 12 generates a plurality of time-series resistance value patterns in the secondary resistance unit RU so as to be different from each other. That is, the pattern generation unit 12 performs a pattern generation process of generating a plurality of time-series resistance value patterns in the secondary resistance unit RU so as to be different from each other. In this embodiment, the secondary resistance unit RU can be varied to five resistance values R _r ⁱ (i=1, 2, 3, 4, 5) as described above. The time-series voltage pattern is determined by a prediction horizon, which is the number of control cycles to be predicted, and a control horizon, which is the number of control cycles in which the resistance value, which is the control input, is made variable. Therefore, the predicted horizon value and the control horizon value are set in advance in the MPC control unit CL as appropriate according to the specifications of the wound induction motor system S, and the pattern generation unit 12 A plurality of time-series voltage patterns that are different from each other are generated according to the resistance value that can be varied by the RU (five types in the above example), the numerical value of the prediction horizon, and the numerical value of the control horizon. In FIG. 2, as an example, all time-series resistance value patterns that can be realized by the secondary resistance unit RU when the prediction horizon is 2 and the control horizon is 1 are illustrated in a tree diagram. In Fig. 2, the prediction horizon is 2 for the resistance value in the current k-th control, so the resistance value in the next (k+1)-th control and the resistance value in the next (k+2)-th control are Since the resistance value is predicted and the control horizon is 1, all the time-series voltage patterns that can be realized in the secondary resistance unit RU are calculated from the current resistance value in the kth control to the next (k+1)th In this control, the first to fifth resistance values R _r ¹ to R _r 5 are branched, and in the next (k+2)th control, the respective resistance values R r 1 to R r ⁵ are divided into five resistance values R _r ¹ to R _r ⁵ . These are five sets of time-series resistance value patterns maintained at resistance values R _r ¹ to R _r ⁵ . As another example, if the prediction horizon is 2 and the control horizon is 2, the prediction horizon is 2 for the resistance value in the current k-th control, so the next (k+1)-th control Since the resistance value at and the resistance value at the next (k+2)th control are predicted, and the control horizon is 2, all the time-series resistance value patterns that can be realized by the secondary resistance unit RU are ( Each of the k+1)th control and the (k+2)th control branches into five first to fifth resistance values R _r ¹ to R _r ⁵ , creating 25 (=5×5) sets of time-series resistance value patterns. It is.

For each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12, the prediction unit 13 predicts the wound induction motor IM when the resistance value of the secondary resistance unit RU is changed in the time-series resistance value pattern. The value of a predetermined physical quantity related to the control objective is predicted as a predicted value. That is, for each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12, the prediction unit 13 calculates the winding wire induction when the resistance value of the secondary resistance unit RU is changed in the time-series resistance value pattern. A prediction process is performed to predict the value of a predetermined physical quantity related to the purpose of controlling the electric motor IM as a predicted value. More specifically, in this embodiment, the predetermined physical quantity related to the control purpose of the wound induction motor IM is the rotation speed, and therefore the prediction unit 13 uses the plurality of time series generated by the pattern generation unit 12. For each resistance value pattern, the output torque T _e is determined (predicted) using the following equation 1, and the rotational speed ω _m is determined (predicted) using the following equation 2. n represents the number of notch stages, therefore, the output torque T _e ⁿ (k+1) is the output torque T at the number of notch stages n in the (k+1)th control, and the rotational speed ω _m ⁿ (k+1) is the (k+1) ) is the rotational speed ω at the notch stage number n in the control.

ここで、ｎ_ｐｈは、誘導機の極対数であり、Ｖ_１－１は、１次側（１次回路、１次巻線側）の線間電圧実効値であり、Ｒ_ｓは、１次側の抵抗値であり、ω_ｍは、巻線形誘導電動機ＩＭの実測された回転速度であり、ｆ_０は、１次側の電圧の周波数であり（ｆ_０＝ω_０／２π）、ｌ_ｓは、１次側の漏れインダクタンスであり、ｌ_ｒは、２次側の漏れインダクタンスである。回転速度ω_ｍは、例えばロータリエンコーダ（パルスジェネレータ）や、ホールＩＣ等を備えて構成される、巻線形誘導電動機ＩＭの回転速度を測定する図略の回転速度センサで実測される。Ｊは、巻線形誘導電動機ＩＭにおける回転子（ロータ）の慣性モーメントであり、Ｄは、巻線形誘導電動機ＩＭにおける回転子の動摩擦トルクであり、Ｔ_ｓは、制御周期である。なお、現在、ｋ番目の制御の場合、（ｋ＋１）、（ｋ＋２）、（ｋ＋３）、・・・は、予測値であることを表している。

Here, n _ph is the number of pole pairs of the induction machine, V _1-1 is the effective value of the line voltage on the primary side (primary circuit, primary winding side), and R _s is the primary ω _m is the measured rotational speed of the wound induction motor IM, f ₀ is the frequency of the voltage on the primary side (f ₀ =ω ₀ /2π), and l _s is the leakage inductance on the primary side, and l _r is the leakage inductance on the secondary side. The rotational speed ω _m is actually measured by a rotational speed sensor (not shown) that measures the rotational speed of the wound induction motor IM, which includes, for example, a rotary encoder (pulse generator), a Hall IC, and the like. J is the moment of inertia of the rotor in the wound induction motor IM, D is the dynamic friction torque of the rotor in the wound induction motor IM, and T _s is the control period. Note that, in the case of the k-th control, (k+1), (k+2), (k+3), . . . represent predicted values.

T _l in Equation 2 is the load torque, and is, for example, an estimated value estimated by Equation 3 below.

ここで、文字変数の上に付された“＾”は、その推定値であることを表す。したがって、Ｔ_ｌ＾（ｋ－１）は、前回の制御で推定した（ｋ－１）番目の制御での負荷トルクであり、ω_ｍ＾（ｋ）は、前回の制御で推定した（ｋ）番目の制御での回転速度である。なお、文字変数の上に付された“＾”は、記載の都合上、前記文字変数に続けて“＾”を記載している。Ｋ_ＬＴは、ゲインであり、例えば複数のサンプルから予め適宜に設定される。

Here, "^" placed above the character variable indicates that it is an estimated value. Therefore, T _l ^(k-1) is the load torque at the (k-1)th control estimated at the previous control, and ω _m ^(k) is the load torque at the (k-1)th control estimated at the previous control. This is the rotation speed under the second control. Note that the "^" added above the character variable is written following the character variable for convenience of description. _KLT is a gain, and is appropriately set in advance from a plurality of samples, for example.

In the above example, in the current k-th control, the prediction unit 13 calculates five sets of first to fifth resistance values R _r ¹ to R _r ⁵ that can be realized by the secondary resistance unit RU. [T _e ⁱ (k+1), T _e ⁱ (k+2)] up to two control periods ahead and [ω _m ⁱ (k+1), ω _m ⁱ (k+2)] up to two control periods ahead are obtained as each predicted value. (i=1, 2, 3, 4, 5).

The pattern selection unit 14 selects the predicted value with the highest evaluation among the predicted values of the wound induction motor IM predicted by the prediction unit 13 from among the plurality of time-series resistance value patterns generated by the pattern generation unit 12. A corresponding time-series resistance value pattern is selected. That is, the pattern selection unit 14 selects the prediction with the highest evaluation among the predicted values of the wound induction motor IM predicted by the prediction unit 13 from among the plurality of time-series resistance value patterns generated by the pattern generation unit 12. A pattern selection process is performed to select a time-series resistance value pattern corresponding to the resistance value. The pattern selection unit 14 selects the predicted value with the highest evaluation by using an evaluation value based on the deviation between the control target value and the predicted value. More specifically, for each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12, in the above example, the pattern selection unit 14 selects whether or not a predetermined physical quantity related to the control purpose of the wound induction motor IM is rotated. Therefore, the predicted value [ω _m ⁱ (k+1), ω _m ⁱ (k+2)] of the rotational speed of the wound induction motor IM predicted by the prediction unit 13 is used, for example, in the evaluation formula g ⁿ of the following formula 4. By quantitatively evaluating the time-series resistance value pattern, the rotation speed prediction value [ω _m ⁱ (k+1), ω _m ⁱ (k+2)] is selected. In this formula 4, the smaller the numerical value, the higher the evaluation.

ここで、ω_ｍ ^＊（ｋ＋ｉ）は、（ｋ＋ｉ）番目の制御における回転速度の制御目標値であり、Ｎ_ｐは、前記予測ホライズンである。なお、ＭＰＣ制御部ＣＬには、外部から回転速度の制御目標値ω_ｍ ^＊が入力され、設定される。

Here, ω _m ^* (k+i) is the control target value of the rotational speed in the (k+i)th control, and N _p is the prediction horizon. Note that the control target value ω _m ^* of the rotational speed is input to the MPC control unit CL from the outside and is set.

The secondary resistance control unit 15 controls the secondary resistance unit RU based on the time-series resistance value pattern selected by the pattern selection unit 14. That is, the secondary resistance control unit 15 performs secondary resistance control processing to control the secondary resistance unit RU based on the time-series resistance value pattern selected by the pattern selection unit 14. More specifically, in the present embodiment, the secondary resistance control unit 15 controls the next (k+1)th resistance value pattern in the time-series resistance value pattern selected by the pattern selection unit 1 when the current control is the kth one. Each switch S ₄ , S ₄ , S 4 , S ₃ , S ₃ , S ³ _, S _{2 ,} S ₂ , S _{2 ,} S ₁ , S ₁ , S ₁ , outputs a control signal for switching on/off.

Then, the control unit 11 performs the pattern generation process, the prediction process, the pattern selection process, and the secondary resistance control process in the pattern generation unit 12 , the prediction unit 13 , the pattern selection unit 14 , and the secondary resistance control unit 15 . , is repeatedly executed at a predetermined control cycle.

Next, the operation of this embodiment will be explained. FIG. 3 is a flowchart showing the operation of the wound induction motor system.

In such a wound induction motor system SM, when the power is turned on, necessary parts are initialized and the system starts operating. For example, by executing a program, the CPU is functionally configured with a control section 11, a pattern generation section 12, a prediction section 13, a pattern selection section 14, and a secondary resistance control section 15.

Then, each process from process S11 to process S15 shown in FIG. 3 is repeatedly executed by the control unit 11 at every predetermined control period until the drive of the wound induction motor IM is stopped.

In FIG. 3, first, at this time (kth), the MPC control unit CL uses the control unit 11 to obtain the rotation speed ω _m (k) of the wound induction motor IM from the rotation speed sensor (not shown) ( S11).

Next, the MPC control unit CL causes the pattern generation unit 12 to generate a plurality of time-series resistance value patterns in the secondary resistance unit RU so as to be different from each other (S12, pattern generation process). In this embodiment, a plurality of time-series resistance value patterns are generated according to a preset prediction horizon value and a control horizon value.

Next, the MPC control unit CL causes the prediction unit 13 to calculate the resistance of the secondary resistance unit RU using the time-series resistance value pattern for each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12 in process S12. The value of a predetermined physical quantity related to the control purpose of the wound induction motor IM when the value is changed is predicted as a predicted value (S13, prediction process). In the present embodiment, the predetermined physical quantity is the rotational speed, and the output torque T e is calculated by Equation 1 for each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12 in process S12, and the output torque T _e is calculated by Equation 2. And the rotational speed ω _m is determined by Equation 3.

Next, the MPC control unit CL selects the wound type induction motor predicted by the prediction unit 13 in process S13 from among the plurality of time-series resistance value patterns generated by the pattern generation unit 12 in process S12 by the pattern selection unit 14. A time-series resistance value pattern corresponding to the predicted value with the highest evaluation among the predicted values of IM is selected (S14, pattern selection process). In the present embodiment, the evaluation value of each of the plurality of time-series resistance value patterns generated by the pattern generation unit 12 in process S12 is determined by Equation 4, and the time-series resistance value pattern that gives the minimum evaluation value is selected. be done.

Then, the MPC control unit CL controls the secondary resistance unit RU by the secondary resistance control unit 15 based on the time-series resistance value pattern selected by the pattern selection unit 14 in process S14, and at the current control timing. This process ends (S15, secondary resistance control process). In this embodiment, the secondary resistance unit RU is controlled so as to have the resistance value R _r ⁱ in the next (k+1)th control.

In this way, the wound induction motor IM is controlled and driven by predictive control so that the rotational speed ω _m ^* is the target value for control purposes.

As described above, the wound induction motor control device (secondary resistance unit RU and MPC control unit CL) in the embodiment, the wound induction motor control method implemented therein, and the wound induction motor system SM Since the resistance value of the secondary resistance unit RU can be determined by predictive control, the secondary resistance value can be automatically changed.

The above-described control device for a wound-type induction motor, control method for a wound-type induction motor, and wound-type induction motor system SM can increase the resistance value pattern by a simple method of increasing the resistance element units UT by cascade connection. By increasing the number of resistance element units UT, a predetermined physical quantity (rotation speed in the above example) related to the control purpose of the wound induction motor IM can be set finely (because it can be set with high resolution). Can be controlled (can be controlled with high resolution).

The above-described control device for a wound-type induction motor, control method for a wound-type induction motor, and wound-type induction motor system SM evaluate the predicted value using an evaluation value based on the deviation between the control target value and the predicted value. A predicted value with high followability can be selected.

According to the present embodiment, a wound induction motor control device, a wound induction motor control method, and a wound induction motor system SM capable of controlling rotational speed can be provided, and the wound induction motor is equipped with the wound induction motor control device. An induction motor system SM can be provided.

Note that in the above-described embodiment, the pattern selection unit 14 was able to select any one of the plurality of time-series resistance value patterns as long as it had the highest evaluation value, but restrictions may be placed on the options. More specifically, for example, the options are restricted by placing restrictions when generating a plurality of time-series resistance value patterns. For example, when generating the plurality of time-series resistance value patterns, the pattern generation unit 12 selects the next resistance value of two resistance values arranged one after the other in time series in the secondary resistance unit RU. When a plurality of variable resistance values that can be generated are arranged in order of magnitude, the previous resistance value, the resistance value that is one value larger than the previous resistance value, and the resistance value that is one value smaller than the previous resistance value. select. Such a control device for a wound-type induction motor, a control method for a wound-type induction motor, and a wound-type induction motor system SM are configured such that the secondary resistance is set so that the resistance values of the two resistances arranged in front and behind each other are shifted by one resistance value. Since the section RU is controlled, the wound induction motor IM can be controlled so as to drive smoothly.

FIG. 4 is a diagram for explaining an example of a time-series resistance value pattern when constraints are provided. For example, the five sets of time-series resistance value patterns shown in FIG. 2 become the three sets of time-series resistance value patterns shown in FIG. From these, select the resistance value pattern that gives the highest evaluation value.

Simulation results for this modification are shown in FIGS. 5 and 6, respectively. FIG. 5 is a diagram showing simulation results in the case of no load. FIG. 6 is a diagram showing simulation results when a load torque is applied. 5A and 6A each show a change in rotational speed over time, and FIGS. 5B and 6B show a change in the number of notches over time at that time. Each of the horizontal axes in FIGS. 5A and 6A represents the elapsed time from the start of startup (start of speed control), and each of the vertical axes represents the rotational speed. Each of the horizontal axes in FIGS. 5B and 6B represents the elapsed time from the start of startup, and each of the vertical axes represents the number of notches.

From FIG. 5A, it can be seen that when speed control accompanied by acceleration is executed with no load, the target speed can be followed without any delay or large deviation. From FIG. 5B, it can be seen that at this time, the speed control can be performed by changing the number of notches by one. On the other hand, Fig. 6 shows the simulation results when a load torque is applied while driving a wound induction motor at a constant speed, and from Fig. 6A, it can be seen that the target speed can be followed as in the case of Fig. 5A. I understand that. Even in this case, it can be seen from FIG. 6B that speed control can be performed by changing the number of notches by one at this time. Note that in FIGS. 5 and 6, the actual measurement results are represented by a solid line, and the simulation results are represented by a broken line, but since these substantially overlap, they cannot be visually distinguished.

In these simulations, the control cycle is 30 [Hz], and therefore the notch stage number switching cycle is also 30 [Hz] at maximum. Generally, when an inverter is used to control an electric motor, the switching period of the inverter is on the order of several kHz. For this reason, when an inverter is used in the secondary circuit, there is a high possibility that a large surge voltage will be generated, which may have the effect of accelerating the deterioration of peripheral devices such as slip rings. In the wound induction motor system of this embodiment, as mentioned above, good control can be achieved at 30 [Hz], which is less than 1/100 of that, and the switching period is small, so when using an inverter, The assumed above-mentioned effects can also be significantly reduced.

Further, a simulation result when the wound induction motor system SM in the embodiment is applied to a trolley car and a simulation result of a comparative example thereof will be explained.

FIG. 7 is a diagram illustrating a schematic configuration when the wound induction electric system is applied to a trolley. FIG. 8 is a diagram showing simulation results when the wound induction electric system shown in FIG. 7 is applied to a trolley. FIG. 9 is a diagram showing simulation results of a comparative example. 8A and 9A each show the time change in the position of the trolley, FIGS. 8B and 9B each show the time change in the rotational speed at that time, and FIGS. 8C and 9C show the notch at that time. It shows the change in the number of stages over time. Each of the horizontal axes in FIGS. 8A and 9A represents the elapsed time from the start of startup (start of speed control), and each of these vertical axes represents the position of the trolley. Each of the horizontal axes in FIGS. 8B and 9B represents the elapsed time from the start of the engine, and each of the vertical axes represents the rotation speed (Speed). Each of the horizontal axes in FIGS. 8C and 9C represents the elapsed time from the start of startup, and each of the vertical axes represents the number of notches. In FIGS. 8 and 9, actual measurement results are represented by solid lines, and simulation results are represented by broken lines.

The wound induction motor system SM in the embodiment is used for position control of the trolley car VC. As shown in FIG. 7, the wound induction motor IM is used as a power source for the trolley car VC, and the output shaft of the wound induction motor IM is connected to the drive wheel DT of the trolley car VC via a reduction gear GA. be done. Thereby, the output torque of the wound induction motor IM is transmitted to the drive wheel DT via the reduction gear GA, the drive wheel DT rotates, and the trolley bogie VC moves. The current position x of the trolley bogie VC and the position control target value x ^* are differentiated by a differentiator SB, and the difference is P-controlled (proportional control) by a P controller PCL to obtain a rotation speed control target value ω _m ^* and is input to the MPC control unit CL. The MPC control unit CL controls the resistance value of the secondary resistance unit RU by predictive control as described above at a control period of 20 [Hz], a prediction horizon of 5, and a control horizon of 1, thereby controlling the rotational speed of the wound induction motor IM. controlled.

As shown in FIG. 8, such a wound induction motor system SM follows a rotational speed control target value ω _m ^* generated by a position control controller including a differentiator SB and a P controller PCL. Although there is a slight deviation from the position control target value x ^* , the position x of the trolley car VC can be determined with high accuracy.

On the other hand, in the comparative example, a speed feedback control section that performs general speed feedback control is used in place of the above-mentioned MPC control section CL. In this comparative example, as shown in Fig. 9, the number of notches is determined according to the size of the position deviation, so the amount of change in the number of input notches is large, and relatively large pulsations occur in the rotational speed. are doing. In particular, in the simulation results around 25 [s], even in a situation where selecting a larger number of notches would exceed the position control target value x ^* , control is performed to increase the number of notches, resulting in position deviation. It's gone. By increasing the switching period and control period, position deviations can be reduced, but large surge voltages may occur.

When controlling the rotational speed by switching the secondary resistance, it is difficult to finely adjust the rotational speed, and it is necessary to ensure control accuracy by increasing the switching cycle and control cycle. By using the induction motor system SM, it is possible to suppress the switching period to several tens of Hz and achieve more accurate control compared to conventional methods.

Further, in the above-described embodiment, the predetermined physical quantity related to the control purpose of the wound induction motor was the rotation speed, but the predetermined physical quantity related to the control purpose of the wound induction motor may be torque. According to this, it is possible to provide a control device for a wound induction motor, a control method for a wound induction motor, and a wound induction motor system SM that can control torque. In this case, instead of Equation 4 for calculating the evaluation value, for example, the following Equation 5 is used to calculate the evaluation value. Alternatively, for example, when a rotational speed limit ω _{m_lim} is provided for torque control, the following equation 6 is used.

ここで、Ｔ_ｅ ^＊（ｋ＋ｉ）は、（ｋ＋ｉ）番目の制御における出力トルクの制御目標値である。

Here, T _e ^* (k+i) is the control target value of the output torque in the (k+i)th control.

In order to express the present invention, the present invention has been adequately and fully described through embodiments with reference to the drawings in the above description, but those skilled in the art will easily be able to modify and/or improve the embodiments described above. It should be recognized that this is possible. Therefore, unless the modification or improvement made by a person skilled in the art does not depart from the scope of the claims stated in the claims, such modifications or improvements do not fall outside the scope of the claims. It is interpreted as encompassing.

SM Wound induction motor system IM Wound induction motor CL Predictive control control unit (MPC control unit)
RU Secondary resistance section UT Resistance element unit S Switch R Resistance element 11 Control section 12 Pattern generation section 13 Prediction section 14 Pattern selection section 15 Secondary resistance control section

Claims (8)

A control device for a wound induction motor that controls a wound induction motor including a primary winding and a secondary winding,
a secondary resistance section connected to the secondary winding and having a variable resistance value;
a pattern generation unit that generates a plurality of time-series resistance value patterns in the secondary resistance unit so as to be different from each other;
For each of the plurality of time-series resistance value patterns generated by the pattern generation section, a predetermined purpose regarding the control purpose of the wound induction motor when the resistance value of the secondary resistance section is changed in the time-series resistance value pattern. a prediction unit that predicts the value of the physical quantity as a predicted value;
Among the plurality of time-series resistance value patterns generated by the pattern generation unit, a time-series pattern corresponding to the highest predicted value among the predicted values of the wound induction motor predicted by the prediction unit is selected. a pattern selection section for selecting a resistance value pattern;
a secondary resistance control section that controls the secondary resistance section based on the time-series resistance value pattern selected by the pattern selection section;
Control device for wound induction motor. The secondary resistance section includes at least one resistance element unit including a resistance element and a changeover switch that switches whether or not to connect the resistance element to the secondary winding.
A control device for a wound induction motor according to claim 1. The predetermined physical quantity related to the control purpose of the wound induction motor is the rotation speed,
A control device for a wound induction motor according to claim 1 or 2. The predetermined physical quantity related to the control purpose of the wound induction motor is torque;
A control device for a wound induction motor according to claim 1 or 2. The pattern selection unit selects the predicted value with the highest evaluation by using an evaluation value based on a deviation between the control target value and the predicted value.
A control device for a wound induction motor according to any one of claims 1 to 4. When generating the plurality of time-series resistance value patterns, the pattern generation section generates a later resistance value of two resistance values arranged one after the other in time series using a variable function in the secondary resistance section. When a plurality of possible resistance values are arranged in order of magnitude, selecting from among the previous resistance value, a resistance value that is one value larger than the previous resistance value, and a resistance value that is one value smaller than the previous resistance value,
A control device for a wound induction motor according to any one of claims 1 to 5. 1. A control method for a wound-type induction motor, which controls a wound-type induction motor including a primary winding and a secondary winding connected to a secondary resistance section having a variable resistance value, the method comprising:
a pattern generation step of generating a plurality of time-series resistance value patterns in the secondary resistance section so as to be different from each other;
For each of the plurality of time-series resistance value patterns generated in the pattern generation step, a predetermined purpose regarding the control purpose of the wound induction motor when the resistance value of the secondary resistance section is changed in the time-series resistance value pattern. a prediction step of predicting the value of the physical quantity as a predicted value;
Among the plurality of time-series resistance value patterns generated in the pattern generation step, a time-series pattern corresponding to the highest predicted value among the predicted values of the wound induction motor predicted in the prediction step is selected. a pattern selection step of selecting a resistance value pattern;
a secondary resistance control step of controlling the secondary resistance section based on the time-series resistance value pattern selected in the pattern selection step;
Control method for wound induction motor. a wound induction motor comprising a primary winding and a secondary winding;
and a wound-type induction motor control unit that controls the wound-type induction motor,
The wound type induction motor control unit is the wound type induction motor control device according to any one of claims 1 to 6.
Wound induction motor system.

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