JP3316118B2 - Induction motor drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power converter for driving an induction motor at a variable speed, and more particularly to a drive device for an induction motor that compensates for starting from zero speed.

[0002]

2. Description of the Related Art A conventional vector-controlled power conversion device that does not require a speed sensor for controlling an induction motor is, for example, a power converter that generates an AC voltage from a DC voltage according to a voltage command value as shown in FIG. A voltage-source inverter (power converter) 3 as a converter, an induction motor such as an induction motor 4 connected thereto, and a control circuit for controlling the rotation based on a given secondary magnetic flux reference Φ2 ^* and a torque reference Torq ^*. and means (exciting current calculator 5 and the torque current computing unit 6) for calculating a torque current reference Iq ^* perpendicular thereto and magnetic flux current reference Id ^* on the system, the magnetic flux current reference Id ^* and <br/> torque d to flow a current to follow the current reference Iq ^*
Voltage command calculator 1 for calculating voltage reference on q-axis rotation coordinates
Five. Dq which is the output of the voltage command calculator 15
The voltage references Vd ^* and Vq ^* on the axis rotation coordinates are converted by the coordinate system converter 17 into the voltage references Va ^* and V on the ab axis fixed coordinate system.
b ^* , and are converted into three-phase voltage references Vu ^* , Vv ^* , Vw ^* by the two-phase / three-phase converter 18, and become command voltages to the voltage-source inverter 3.

The three-phase current I detected by the current detector 7
u, Iv, and Iw are converted by the three-phase to two-phase converter 16 into current values Ia and Ib on the ab-axis fixed coordinate system. From the current values Ia and Ib and the voltage references Va ^* and Vb ^* on the ab axis fixed coordinates, the secondary magnetic flux calculator 19 calculates ab
By calculating the internal induced voltages E2a and E2b on the axis and integrating the internal induced voltages E2a and E2b, a
The secondary magnetic fluxes Φ2a and Φ2b on the b-axis are estimated and calculated.

The secondary magnetic flux Φ2 on the ab axis fixed coordinate system
a and Φ2b become secondary magnetic fluxes Φ2d and Φ2q on the dq-axis rotation coordinates by the coordinate system converter 22. q-axis secondary magnetic flux Φ2
q is input to the motor angular frequency calculator 20, and the motor angular frequency is estimated and calculated. Further, the slip angle frequency is estimated and calculated by the slip angle frequency calculator 21 from the torque current reference Iq ^*, and the slip angle frequency is added to the calculated motor angular frequency to obtain the primary angular frequency ω1.

The primary angular frequency ω 1 is integrated, becomes a phase between an ab axis fixed coordinate system and a dq axis rotation coordinate system, and is supplied to coordinate system converters 17 and 22. The motor angular frequency calculation value is
Subtracted from the motor angular frequency reference ωr ^* , the speed controller 4
Input to 0. The output of the speed controller 40 is the torque reference Torq ^* .

[0006] The conventional induction motor driving device configured as described above is an induction motor speed control to which vector control without using a speed sensor is applied.

[0007]

In the above-described conventional induction motor driving apparatus, in the starting and extremely low speed regions where the internal induced voltage is zero or minimal, if there is an error in the motor model, the actual error of the induced voltage calculation error is reduced. Increases with respect to the induced voltage, and the accuracy of the induced voltage calculation decreases. As described above, in the secondary magnetic flux calculator 19, the secondary magnetic fluxes Φ2a, Φ2
Since 2b is calculated by integrating the induced voltages E2a and E2b, the calculation accuracy of the secondary magnetic flux also decreases. As the error of the motor model, an error of each motor parameter and an influence of a dead time for preventing a DC short circuit of the inverter are considered. Many methods of compensating for these have been proposed, but their effects could not be completely compensated.

As described above, at the time of start-up in which the manipulated variable is originally small, the calculation using the inaccurate induced voltage, the secondary magnetic flux, or the parameter including the error degrades the control characteristics. As a result, when starting up, a positive slip angle frequency should be given to generate a positive torque, but in the worst case, a negative slip angle frequency was given and a negative torque was generated, and a state where starting could not occur could occur. .

In view of the above, the present invention provides a device for compensating start-up at the time of starting from zero speed to improve torque characteristics at the time of start-up operation, and to provide a compensator from a start-up mode using this start-up compensator. An object of the present invention is to provide a drive device for an induction motor that smoothly shifts to a normal mode that is not used and improves transient characteristics associated with the mode shift.

[0010]

In order to achieve the above object, a drive device for an induction motor according to a first aspect of the present invention includes an inverter that converts DC into AC by a voltage command or a current command and supplies power to the induction motor. The output of this inverter
The three-phase current value or the three-phase voltage value
Detecting means and, by calculation and given flux reference and the flux current reference and torque current reference in the rotating coordinate than the torque reference calculation
Calculating means for output, by introducing the <br/> flux current reference and the torque current reference computed by the computing means, the rotation seat
Voltage command on mark or a calculating means for calculating a current command, this
The voltage command on the rotational coordinates calculated by the calculation means or
Convert the current command to the voltage command or current command in the fixed coordinate system.
Conversion means for converting, a detection current value from the detection means or
Frequency to output the calculated frequency value based on the detected voltage value
Arithmetic means, and determining means for the migration timing to <br/> determined to start mode or RaTsu normal mode, is determined in this determination means
The primary angular frequency for starting compensation at the transition time and the frequency
An adder that derives a primary angular frequency by adding a wave number operation value.
And the primary angular frequency derived by the adding means.
And integrating means for supplying to the converting means .

Therefore, in the device according to the present invention, an arbitrary primary angular frequency can be given at the time of starting from zero speed. Therefore, by setting the primary angular frequency so that a positive slip angle frequency is generated, the positive angular frequency is set. Torque can be secured.

Further, in the driver for an induction motor according to the second invention, an inverter for supplying power to the induction motor by converting a direct current to an alternating current by a voltage command or current command, the i
Three-phase current value or three-phase voltage provided on the output side of the inverter
Detecting means for detecting a value, and a detected current from the detecting means
Value or detected voltage value, and the detected current value or
Calculating means for calculating the operation first conversion means for deriving converts the detected voltage value, and a magnetic flux current reference on rotation from a given flux reference and the torque reference coordinates and torque current reference, this operation and the flux current reference and <br/> torque current reference calculated by means derived by said first converting means
The detected current value or detected voltage value on the rotating coordinates
Te, the voltage command on the rotating coordinates or a calculating means for calculating a current command, voltage command on the rotating coordinates calculated by the calculation means
Command or current command on the fixed coordinates.
A second converting means for converting the first conversion means
And the detected current value or the detected voltage value from the calculation means.
Estimating means for introducing a voltage command or a current command and estimating a primary angular frequency calculation value by calculation;
And control means you output the primary angular frequency arithmetic value continuously varied, at startup, calculated by introducing the torque current reference
The slip angle frequency is set in advance and the motor angular frequency is set in advance.
The primary angular frequency for starting compensation when it is judged that the value has been exceeded
Sliding angle frequency calculating means derived as
The starting compensation primary angular frequency from a wave number calculating means and the
The primary angle calculated by adding the primary angular frequency calculation value from the control means
Addition means for deriving the frequency and derivation by this addition means
The first and second conversions are performed by integrating the obtained primary angular frequency.
And an integrating means for supplying to the means.

Therefore, in the apparatus of the present invention, since the calculated value of the slip angle frequency is given as the primary angular frequency at the start-up when the motor angular frequency is zero, it is possible to give the substantially same primary angular frequency as in the vector control. .

Further, in the driver for an induction motor according to the third invention, an inverter for supplying power to the induction motor by converting a direct current to an alternating current by a voltage command or current command, the i
Three-phase current value or three-phase voltage provided on the output side of the inverter
Detecting means for detecting a value, and calculating means for calculating by calculating the flux current reference and torque current reference in the rotation from a given flux reference and the torque reference coordinates, <br/> calculated by the calculating means introducing said flux current reference and the torque current reference
To the voltage command on the rotating coordinates or a calculating means for calculating a current command, a voltage on the rotating coordinates calculated by the calculation means
Command or current command on fixed coordinates
Converting means for converting the command into a command;
Outputs the calculated frequency value based on the current value or the detected voltage value.
A frequency calculating means for calculating a slip angle frequency value , wherein the torque current reference is introduced and a slip angle frequency calculation value is calculated by calculation.
A calculation unit, when starting, and the calculated slip angular frequency operation value by said slip angle frequency arithmetic unit, based on the torque reference
First adding means for deriving a starting compensation primary angular frequency when it is determined that the motor angular frequency has exceeded a predetermined value by adding the calculated motor angular frequency to the motor angular frequency.
And a primary angular frequency for starting compensation by the first adding means.
To derive the primary angular frequency by adding
Second adding means, and the second adding means
The first and second conversion means are integrated by integrating the obtained primary angular frequency.
And integrating means for supplying to the stage .

Therefore, in the apparatus of the present invention, when starting from zero speed, the sum of the calculated value of the motor angular frequency, which is the simulator output, and the calculated value of the slip angle frequency is given as the primary angular frequency. If the parameters are accurate and the actual angular frequency matches the angular frequency of the simulator, the same primary angular frequency as in vector control can be provided.

Further, in the driver for an induction motor according to the fourth invention, an inverter for supplying power to the induction motor by converting a direct current to an alternating current by a voltage command or current command, the i
Three-phase current value or three-phase voltage provided on the output side of the inverter
Detecting means for detecting a value, and calculating means for calculating by calculating the flux current reference and torque current reference in the rotation from a given flux reference and the torque reference coordinates, the flux current reference calculated by the calculating means and introducing a torque current reference
To a calculating means for calculating a voltage command or current command on the rotating coordinates, the voltage on the rotating coordinates calculated by the calculation means
Command or current command on fixed coordinates
Conversion means for converting the current value into a command, a detection current value or a detection voltage value from the detection means, and a voltage command or a detection value from the calculation means.
Is an estimating means for introducing a current command and estimating a primary angular frequency operation value by calculation, and a detected current value from the detecting means.
Alternatively, a circuit that outputs a calculated frequency value based on the detected voltage value.
And the wave number calculation means, during the transition from start-up mode to the normal mode
Determination means for determining the period, is determined in this determination means
In the said mobile timing, and control means you output by changing a preset activated compensation primary angular frequency continuously, this
The primary angular frequency for starting compensation from the control means of
An adder that derives a primary angular frequency by adding a wave number operation value.
And the primary angular frequency derived by the adding means.
Integrating means for dividing and supplying to the first and second converting means
And characterized in that:

Therefore, in the device of the present invention, a positive torque can be ensured by generating a positive slip angle frequency by adding a fixed value to the primary angular frequency and generating a positive slip angle frequency when starting from zero speed.

Further, the driver for an induction motor according to the fifth aspect of the present invention, an inverter for supplying power to the induction motor by converting a direct current to an alternating current by a voltage command or current command, the i
Three-phase current value or three-phase voltage provided on the output side of the inverter
Detecting means for detecting a value, and a detected current from the detecting means
Outputs the calculated frequency value based on the value or detected voltage value
Frequency calculation means and motor generated based on torque reference
Judge whether the angular frequency exceeds a preset value
Determining means and the motor angular frequency in the determining means
Before it is determined that the preset value has been exceeded,
Add secondary flux correction value for start-up compensation to given flux reference
And a secondary magnet for starting compensation by the adding means.
Said flux reference and the torque reference flux correction value is added
The basis, the calculation means and a flux current reference and torque current reference in the rotating coordinate is calculated by calculation, guiding the flux current reference and the torque current reference calculated by the calculating means
By entering a calculation means for calculating a voltage command or current command on the rotating coordinates, electrodeposition on a rotating coordinates calculated by the calculation means
Voltage command or current command on the fixed coordinates.
Conversion means for converting to flow command, and fixing from this conversion means
Voltage command or current command on the coordinates, and
Introduce a voltage command or current command on the rotating coordinates and
Integrates an estimation unit for estimating a more primary angular frequency operation value, the estimated primary angular frequency arithmetic value Ri by this estimating means
And integrating means for supplying the converting means .

Therefore, in the apparatus according to the present invention, when starting from zero speed, the state of overexcitation can make it difficult for the axis deviation to occur.

[0020]

[0021]

[0022]

[0023]

[0024]

[0025]

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an induction motor driving apparatus according to the present invention, which does not require a speed sensor and performs variable speed control by vector control, will be described below with reference to the drawings. Note that the same components as those of the conventional induction motor shown in FIG. 47 are denoted by the same reference numerals, and detailed description is omitted.

FIG. 1 is a block diagram showing a schematic configuration of a first embodiment according to the first invention, in which a three-phase alternating current is generated by a voltage type inverter (power converter) 3 which is a power converter. 2 shows a control block for driving the induction motor 4. Hereinafter, the same applies to other embodiments, but the voltage-type inverter (power converter) 3 converts power from DC to AC, and may be a voltage command or a current command.

This induction motor driving device firstly uses a given secondary magnetic flux reference Φ2 ^* to generate a magnetic flux (excitation) on a rotating coordinate system ^.
Current reference Id ^* and the excitation current computing unit 5 for computing output, torque current reference perpendicular torque reference Torq ^* from said secondary flux reference .phi.2 ^* to the flux current reference Id ^* Iq ^*
And a torque current calculator 6 for calculating and outputting.

Next, a current detector 7 installed on the output side of the voltage source inverter 3 and a coordinate system conversion for converting the three-phase current value detected by the current detector 7 into d and q axis rotating coordinate systems. 8, two current controllers 9 that feed back the converted current detection values to match the current reference, and d and q-axis voltage command values V that are outputs of the two current controllers 9.
d ^*, Vq ^* was introduced the flux current reference Id ^* and the torque current reference Iq ^* to 3-phase such that the actual current value to which the voltage-source inverter 3 outputs follow the voltage reference or 3-phase orthogonal thereto ( Fixed axis) voltage command values Vu ^* , Vv ^* , Vw
^And a coordinate system converter 10 for converting and deriving ^* .

The d and q axis voltage command values Vd ^* , V
An induced voltage calculator 11 for calculating and outputting d and q-axis internal induced voltages E2d and E2q from q ^* and d and q-axis current detection values Id and Iq, and d and q-axis internal induced voltages from the induced voltage calculator 11 A primary angular frequency calculator 12 for estimating a primary angular frequency from E2d and E2q by a calculation output,
With these configurations, a torque control system by speed sensorless vector control is formed.

Further, the primary angular frequency calculation value output from the primary angular frequency calculator 12 is a mode transition gain f
(T) Multiplied by a time function of 50. This product is
Arbitrary time function ω1 which is the primary angular frequency for starting compensation
^* (T) 13 and mode transition gain (1−f (t)) 51
And a product with the time function is generated to generate a primary angular frequency ω1, which is an angular frequency of the three-phase voltage command value. The primary angular frequency ω1 is integrated, becomes a phase θINV between the dq axis rotation coordinate system and the ab axis fixed coordinate system, and is supplied to the coordinate system converters 8 and 10.

The continuous gain f (t) used for the mode transition from the start mode to the normal mode is such that the start of the start is t
= 0, the following equation

F (t) = 0: (0 ≦ t <ts) f (t) = x (t) :( ts ≦ t < ( ts + a ) ) :( 0 ≦ x (t) ≦ 1, x ( ts) = 0, x (ts + a) = 1) f (t) = 1: A time function satisfying ( ( ts + a ) ≦ t), where x (t) is, for example, x (t) = (t−ts) ) / A.

This ts is the primary angular frequency ω1 for starting compensation.
^{* This} is the point in time when the transition from the startup mode using (t) 13 to the normal mode using the primary angular frequency estimated and calculated based on the voltage and current values is started. In this embodiment, a simulator 14 based on a model from the torque reference to the motor angular frequency is used, and when the estimated value of the motor angular frequency which is the output of the simulator 14 becomes larger than a certain set value, the mode shift is performed. To start.

FIG. 46 shows an example of the simulator 14.
Modeled with a machine model 53 a transfer function from the torque to the motor angular frequency as 1 / Js. This machine model 5
3 is compared with a mode transition angular frequency ωr054 which is a motor angular frequency reference at the start of mode transition. The time point at which the motor angular frequency calculation value ωr ^* exceeds the motor angular frequency reference ωr054 at the start of the mode shift by the mode shift determining unit 55 is the mode shift start time point ts.

As described above, at the time of starting from the zero speed, the mode shift judging unit 55 judges the shift to the normal mode using the primary angular frequency obtained by estimating the detected current value or the detected voltage value. The primary angular frequency ω1 for starting compensation
^* The transition from the startup mode using (t) 13 to the normal mode is controlled by a continuous gain of f (t).

The primary angular frequency ω for starting compensation in FIG.
1 ^* (t) 13 can be set, for example, as follows.

Ω1 ^* (t) = c: primary angular frequency is constant (c: const) ω1 ^* (t) = bt: primary angular frequency is proportional to time ω1 ^* (t) = ω (t): arbitrary Therefore, according to the first embodiment configured as described above, the following operation and effect can be obtained. That is, at the time of startup, since the reliability of the induced voltage estimation is low due to parameter errors and distortion of the output of the voltage-source inverter 3, the calculated value of the primary angular frequency based on this is originally required to establish vector control. Error is larger than the primary angular frequency. For example, even when the motor angular frequency is estimated and added to the slip angle frequency estimated value calculated from the torque current reference on the rotating coordinates to estimate the primary angular frequency, the negative primary angular frequency is calculated. Since the actual angular frequency of the motor is zero, the slip angle frequency becomes negative, a negative torque is generated, and reverse rotation occurs. Therefore, a positive slip angle frequency can be obtained by giving the primary angular frequency in a feedforward manner by an arbitrary time function. As a result, a positive torque is generated, and start-up can be compensated.

By detecting the motor angular frequency to some extent by the simulator 14, it is possible to shift to the angular frequency mode while avoiding a low speed region where the calculation of the induced voltage has a large error, and obtain a good operation after the mode shift. be able to. In this way, by setting a continuous gain of f (t), a smooth transition from the start mode to the normal mode is possible.

FIG. 2 is a block diagram showing a schematic configuration of a second embodiment according to the first invention. Similarly, a control block for generating a three-phase alternating current by a voltage source inverter 3 and driving an induction motor 4. Is shown.

The induction motor driving device includes an excitation current calculator 5 for calculating and outputting a magnetic flux current reference Id ^* from a secondary magnetic flux reference Φ2 ^* , a torque reference Torq ^* and a secondary magnetic flux reference Φ.
2 ^*, a torque current calculator 6 for calculating a torque current reference Iq ^* , a magnetic flux current reference Id ^*, and a torque current reference Iq ^*.
And a voltage command calculator 15 for calculating the voltage command values Vd ^* and Vq ^* on the dq-axis rotating coordinate system so that the actual current values match with each other.

Voltage command values Vd ^* , Vq on dq axis coordinate system
^* : 3 to voltage source inverter 3 by coordinate system converter 45
It becomes the phase voltage command values Vu ^* , Vv ^* , Vw ^* .

The three-phase current detected by the current detector 7 installed on the output side of the voltage source inverter 3 is converted by a coordinate system converter 44 into a dq axis rotating coordinate system. The deviation between the torque current reference Iq ^* and the torque current Iq output from the coordinate system converter 44 is input to the primary angular frequency calculator 24. The primary angular frequency calculation value output from the primary angular frequency calculator 24 is a time function f (t) as in the first embodiment.
Multiplied by 50. The sum of this product and the product of the primary angular frequency ω1 ^* (t) 13 for start-up compensation and (1-f (t)) 51 is equal to the primary angular frequency ω1 which is the angular frequency of the three-phase voltage command. Become. The primary angular frequency ω1 is integrated, becomes a phase between the dq axis rotation coordinate system and the ab axis fixed coordinate system, and is supplied to the coordinate system converters 44 and 45, respectively.

According to the second embodiment configured as described above, the same operation and effect as in the first embodiment can be obtained.

FIG. 3 is a block diagram showing a schematic configuration of a third embodiment according to the first invention . Similarly, a control for generating a three-phase alternating current by a voltage source inverter 3 and driving an induction motor 4 is shown. Indicates a block.

The induction motor driving device includes an excitation current calculator 5 for calculating a magnetic flux current reference Id ^* from a secondary magnetic flux reference Φ2 ^* , a torque reference Torq ^* and a secondary magnetic flux reference Φ2 ^*.
, A torque current calculator 6 for calculating a torque current reference Iq ^* , a current detector 7 installed on the output side of the voltage source inverter 3, and three-phase current values Iu, Iv, A coordinate system converter 8 for converting Iw into d- and q-axis rotating coordinate systems, two current controllers 9 for feeding back the current detection values Id, Iq and matching with a current reference,
Dq-axis voltage command value Vd which is the output of two current controllers 9
^And a coordinate system converter 45 for converting ^* , Vq ^* into three-phase voltage command values Vu ^* , Vv ^* , Vw ^* .

The dq axis voltage command values Vd ^* , Vq ^* and d
The q-axis current response values Id and Iq are input to the voltage / current model simulator 37. Voltage / current model simulator 3
In 7, the secondary magnetic flux is estimated by the simulator of the voltage model and the current model of the secondary magnetic flux of the induction motor 4 respectively. The two calculated secondary magnetic flux estimation values output from the voltage / current model simulator 37 are input to a motor angular frequency calculator 38, which estimates and calculates the motor angular frequency. The calculated value of the motor angular frequency is multiplied by the time function f (t) 50 shown in the first embodiment, and further, the slip angle frequency which is the output of the slip angle frequency calculator 21 to which the torque current Torq ^* is input. The calculated value is added to the calculated value to obtain a primary angular frequency calculated value. The calculated primary angular frequency is added to the product of the primary angular frequency ω1 ^* 13 for start-up compensation and (1−f (t)) 51, and this is the primary angular frequency ω1 that is the angular frequency of the three-phase voltage command value. It becomes. The primary angular frequency ω1 is integrated, becomes a phase between the dq axis rotation coordinate system and the ab axis fixed coordinate system, and is supplied to the coordinate system converters 8 and 45, respectively.

According to this embodiment configured as described above, the same operation and effect as those of the first embodiment can be obtained.

When ω1 ^* (t) = 0 is set,
At the time of startup, the calculated value of the slip angle frequency is given as the primary angular frequency ω1. On startup, close to the angular frequency of the motor is zero, the primary angular frequency to be given in a state where vector control is established, because the is substantially identical to the slip angular frequency, only the slip angular frequency partial primary angular With the setting given as the frequency, good characteristics can be obtained at the time of startup.

FIG. 4 is a block diagram showing a schematic configuration of a fourth embodiment according to the first invention. Similarly, a three-phase alternating current is generated by a voltage source inverter 3 and an induction motor 4 is generated.
1 shows a control block for driving.

The driving device of this induction motor has a magnetic flux reference Φ
An excitation current computing unit 5 from 2 ^* to calculate the flux current reference Id ^*, a torque current calculator 6 for calculating a torque current reference Iq ^* from the torque reference Torq ^* and flux reference .phi.2 ^*, the output side of the voltage-source inverter 3 Current detector 7 installed in
And the three-phase current values Iu, I detected by the current detector 7
a coordinate system converter 8 for converting v and Iw into d and q axis rotation coordinate systems, two current controllers 9 for feeding back the current detection values Id and Iq to match the current reference, and two current controllers 9 D and q axis voltage command values Vd ^* and Vq
^And a coordinate system converter 45 for converting ^* into three-phase voltage command values Vu ^* , Vv ^* , Vw ^* . On the output side of the inverter 3, a voltage detector 30 is provided, and an induced voltage calculator 33 that receives the detected three-phase voltage value and the detected three-phase current value as inputs receives an induced voltage E2a, E2b is calculated. This is converted by the coordinate system converter 34 into the induced voltages E2d and E2q on the dq axis rotation coordinate system.

The calculated d-axis induced voltage E2d is multiplied by the time function f (t) 50 also shown in the first embodiment, and is further input to the magnetic flux angle adjuster 35. The motor angular frequency is calculated by multiplying the q-axis induced voltage E2q by the time function f (t) and adding the result to the output of the magnetic flux angle adjuster 35. The motor angular frequency calculation value is a slip angle frequency calculator 2 which receives the torque current reference Iq ^* as an input.
The value is added to the slip angle frequency calculation value which is the output of No. 1 to be a primary angular frequency calculation value. The primary angular frequency calculation value is the motor angular frequency ω1 ^* (t) for starting compensation, as in the first embodiment.
13 and (1-f (t)) 51, and a primary angular frequency ω1, which is the angular frequency of the three-phase voltage command value, is obtained. The primary angular frequency ω1 is integrated and becomes the phase between the dq-axis rotation coordinate system and the ab-axis fixed coordinate system.
34, 45.

In this embodiment configured as described above, the same functions and effects as those of the first embodiment can be obtained.

FIG. 5 is a block diagram showing a schematic configuration of a fifth embodiment according to the first invention, and shows a control block for driving an induction motor 4 with three-phase alternating current by a voltage-type inverter 3.

The drive device for the induction motor includes an excitation current calculator 5 for calculating a magnetic flux current reference Id ^* from a secondary magnetic flux reference Φ2 ^* , a torque reference Torq ^* and a secondary magnetic flux reference Φ2 ^*.
And a torque command calculator 6 for calculating a torque current reference Iq ^* from the torque current reference Id ^*, and a voltage command value Vd on the dq axis rotating coordinate system such that the actual current values of the magnetic flux current reference Id ^* and the torque current reference Iq ^* match. ^And a voltage command calculator 15 for calculating Vq ^* . Voltage command values Vd ^* , Vq on dq axes
^{The *} is converted into voltage command values Va ^* and Vb ^* on the ab-axis fixed coordinate system by the coordinate system converter 17, and the three-phase voltage command values Vu ^* , Vv ^* and Vw are further converted by the two-phase / three-phase converter 18. ^*
Is obtained.

The three-phase currents Iu, Iv, I detected by the current detector 7 installed on the output side of the voltage source inverter 3
w is converted by the three-phase / two-phase converter 16 into an ab-axis fixed coordinate system. The current detection value Ia on the ab axis fixed coordinate system,
From Ib and the voltage command values Va ^* , Vb ^* , the secondary magnetic flux Φ
2a and Φ2b are calculated by the secondary magnetic flux calculator 19 and are converted by the coordinate system converter 22 into a dq axis rotation coordinate system.
The q-axis secondary magnetic flux Φ2q is multiplied by the same time function f (t) 50 as in the first embodiment, and the product is input to the motor angular frequency calculator 20 to calculate and estimate the motor angular frequency. A calculated value of the slip angle frequency output from the slip angle frequency calculator 21 with the torque current command as an input is added to the motor angular frequency, and the primary angular frequency is estimated and calculated.

An arbitrary time function ω1 ^* (t) 13 for starting compensation and (1-f)
(T)) is multiplied by 51 to obtain a primary angular frequency ω1, which is the angular frequency of the three-phase voltage command value. The primary angular frequency ω1 is integrated, and becomes a phase θINV between the dq-axis rotation coordinate system and the ab-axis fixed coordinate system.
2 respectively.

According to this embodiment configured as described above, the same operation and effect as those of the first embodiment can be obtained.

FIG. 6 is a block diagram showing a schematic configuration of a sixth embodiment according to the first invention, in which a three-phase alternating current is generated by a current source inverter (power converter) 27, and the induction motor 4 is operated. This is a control block to be driven.

The induction motor driving device includes an excitation current calculator 5 for calculating and outputting a magnetic flux current reference Id ^* from a secondary magnetic flux reference Φ2 ^* , a torque reference Torq ^* and a magnetic flux reference Φ2 ^*.
A torque current calculator 6 for calculating a torque current reference Iq ^* from a coordinate system converter 26 for converting an excitation / torque current command value, which is a current reference on a dq axis rotating coordinate system, to an ab axis fixed coordinate system; When the current command value on the ab axis fixed coordinate system is
It has a two-phase / three-phase converter 28 for three-phase conversion, and the three-phase current command value is a command value to the current source inverter 27.

On the output side of the inverter 27, a current detector 7 and a voltage detector 30 are provided, and the detected current value and voltage value and the d-axis secondary magnetic flux reference Φ2 ^* are converted by the coordinate converter 46.
Ab-axis magnetic flux reference Φ converted to ab-axis fixed coordinate system by
The secondary magnetic flux and torque current Iq are calculated by the secondary magnetic flux / torque current calculator 29 based on 2a ^* and Φ2b ^* .

The deviation between the torque current reference Iq ^* and the torque current Iq is determined by the time function f (t) 5 shown in the first embodiment.
The product is multiplied by 0, and the product is input to the motor angular frequency calculator 31. The motor angular frequency calculation value output from the motor angular frequency calculator 31 is added to the slip angle frequency calculation value output from the slip angle frequency calculator 21 to which the torque current reference Iq ^* is input, and the primary angular frequency calculation is performed. Value is obtained. 1
In the same manner as in the first embodiment, the starting angular frequency calculation value includes the motor angular frequency ω1 ^* (t) 13 for starting and (1-f
(T)) The product of (51) and 51 is added, whereby a primary angular frequency ω1, which is the angular frequency of the three-phase voltage command value, is obtained. 1
The secondary angular frequency ω1 is integrated to become the phase θINV between the dq axis rotation coordinate system and the ab axis fixed coordinate system, and the coordinate system converter 2
6, 46.

According to this embodiment configured as described above, the same operation and effect as those of the first embodiment can be obtained.

FIG. 7 is a block diagram schematically showing the configuration of a seventh embodiment according to the first invention. In comparison with the first embodiment, a speed control system is provided above the torque control system. However, since the portion where the torque command becomes the speed reference of the speed control system through the simulator is different, only the difference will be particularly described.

The torque command Tcmd is input to the model simulator 14 from the torque to the motor angular frequency.
The motor angular frequency reference, which is the output, subtracts the motor angular frequency calculation value obtained by subtracting the slip angle frequency calculation value calculated by the slip angle frequency calculator 21 from the primary angular frequency. The deviation is determined by the time function f shown in the first embodiment.
(T) multiplied by 50, and the product is input to the speed controller 40. The output of the speed controller 40 is the torque command Tc
The product of md and (1-f (t)) 51 is added to generate a torque reference Torq ^* .

According to this embodiment configured as described above, the same operation and effect as those of the first embodiment can be obtained.

FIG. 8 is a block diagram schematically showing the configuration of an eighth embodiment according to the first invention. In comparison with the second embodiment, a speed control system is provided above the torque control system. In particular, the difference is that the torque command serves as the speed reference of the speed control system through the simulator, but this portion is different from the seventh embodiment and the first embodiment as described in the seventh embodiment. Since this is the same as the difference from the above-described embodiment, detailed description will be omitted.

Therefore, according to the eighth embodiment having the above-described structure, the same effect as that of the second embodiment can be obtained.

FIG. 9 is a block diagram schematically showing the configuration of a ninth embodiment according to the first invention. Compared with the third embodiment, a speed control system is provided above the torque control system. Since the torque command is different from the speed reference of the speed control system through the simulator, only the difference will be described.

That is, the torque command Tcmd is input to the model simulator 14 from the torque to the motor angular frequency. The output of the motor angular frequency reference is subtracted from the output of the motor angular frequency calculator 38. The deviation is multiplied by the time function f (t) 50 shown in the first embodiment, and the product is input to the speed controller 40. The output of the speed controller 40 is the torque command Tcmd and (1-f
(T)) The product of the torque reference T
orq ^* .

According to the ninth embodiment configured as described above, effects similar to those of the third embodiment can be obtained.

FIG. 10 shows a tenth embodiment according to the first invention.
FIG. 14 is a block diagram showing a schematic configuration of the fourth embodiment, in which a speed control system is provided at a higher level of the torque control system as compared with the fourth embodiment, and a portion in which a torque command becomes a speed reference of the speed control system through a simulator; Therefore, the difference will be particularly described.

The torque command Tcmd is input to the model simulator 14 from torque to motor angular frequency.
The motor angular frequency reference which is the output is a motor angular frequency calculation which is the sum of the product of the q-axis induced voltage and the time function f (t) 50 shown in the first embodiment and the output of the magnetic flux angle adjuster 35. Perform a subtraction with a value. The deviation is multiplied by the time function f (t) 50 shown in the first embodiment, and the product is input to the speed controller 40. The output of the speed controller 40 is
The product of the torque command Tcmd and (1−f (t)) 51 is added to generate a torque reference Torq ^* .

Therefore, according to the tenth embodiment configured as described above, effects similar to those of the fourth embodiment can be obtained.

FIG. 11 shows an eleventh embodiment according to the first invention.
Of a block diagram showing the schematic configuration of the embodiment, as compared to the embodiment of the fifth real <br/> facilities of having a speed control system at the top of the torque control system, the torque command of the speed control system through the simulator The part that becomes the speed reference is different, and this part is
As described in the ninth embodiment, the difference between the ninth embodiment and the third embodiment is the same.

Therefore, the first structure configured as described above
According to the first embodiment, effects similar to those of the fifth embodiment can be obtained.

FIG. 12 shows a twelfth embodiment according to the first invention.
FIG. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention.
The second embodiment is different from the sixth embodiment in that a speed control system is provided above the torque control system, and the torque command becomes a speed reference of the speed control system through the simulator. The parts are the same as the differences between the eleventh embodiment and the second embodiment described in the eleventh embodiment.

Therefore, according to the twelfth embodiment configured as described above, the same effect as in the sixth embodiment can be obtained.

Next, FIG. 13 is a main block diagram showing a schematic configuration of a main part of a thirteenth embodiment of the drive unit for an induction motor according to the second invention, particularly showing a schematic configuration of the main part. Compared with the first embodiment, the calculation part of the primary angular frequency for starting compensation is different, so this difference will be particularly described.

That is, in the thirteenth embodiment, the calculated value of the slip angle frequency which is a condition of the slip angle frequency vector control is used as the primary angular frequency for starting compensation. Slip angle frequency calculator 21 for calculating slip angle frequency
Calculates the slip angle frequency from the torque current reference. The slip angle frequency calculation value is multiplied by the time function (1-f (t)) 51 shown in the first embodiment to obtain a primary angular frequency for starting compensation.

Therefore, according to the thirteenth embodiment configured as described above, the following operation and effect can be obtained.

That is, also in the embodiment of FIG. 13, as in the first embodiment, the primary angular frequency is given by feed forward at the time of starting, so that a positive sliding angular frequency is given. As a result, a positive torque is generated, and starting can be compensated. Furthermore, since the angular frequency of the motor is close to zero at the time of starting, the primary angular frequency to be given in a state where the vector control is established is almost the same as the slip angle frequency. In this embodiment in which the frequency is given, it is possible to obtain as good a characteristic as that of the vector control at the time of starting.

This embodiment is an example in which the present invention is applied to a torque control system. However, similar effects can be obtained when the present invention is applied to a torque control having a speed control system therein as in the seventh embodiment. be able to.

FIG. 14 shows a fourteenth embodiment according to the second invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
The drive device for an induction motor shown in FIG. 14 is different from the second embodiment in the calculation part of the primary angular frequency for starting compensation in particular, but this part is different from the thirteenth embodiment. The configuration is the same as that of the calculation part of the primary angular frequency for starting compensation described above, and the same operation and effect as the thirteenth embodiment can be obtained. Although this embodiment is also an example applied to a torque control system, even when applied to torque control having a speed control system inside as in the eighth embodiment,
Similar functions and effects can be obtained.

FIG. 15 is a main block diagram showing a schematic configuration of a fifteenth embodiment of the present invention, which further relates to a drive device for an induction motor according to the third invention. The device shown in FIG.
Compared with the first embodiment, only the calculation part of the primary angular frequency for starting compensation is different, so this part will be particularly described.

That is, in this embodiment, as the primary angular frequency for starting compensation, the calculated value of the slip angle frequency calculator 21 which is the condition of the slip angle frequency type vector control, and the calculated value from the torque reference to the motor angular frequency. It uses the sum of the estimated value of the motor angular frequency which is the output of the simulator. Slip angle frequency calculator 2 for calculating slip angle frequency
1 is for calculating the slip angle frequency from the torque current reference. The simulator 14 of the model from the torque reference to the motor angular frequency has the same configuration as the simulator shown in the first embodiment. In the first embodiment, the estimated value of the motor angular frequency, which is the simulator output, is used as the means for determining the mode transition. In this embodiment, the estimated motor angular frequency ωr, which is the simulator 14 output, is additionally provided. The sum of 演算 and the calculated value of the slip angle frequency is treated as the primary angular frequency for starting compensation. The primary angular frequency for starting compensation is multiplied by the time function (1-f (t)) 51 shown in the first embodiment, and the primary angular frequency which is the output of the primary angular frequency calculator 12 is also obtained. Calculated angular frequency and f
(T) is added to the product of 50 to obtain a primary angular frequency ω1.

According to the fifteenth embodiment configured as described above, the following operation and effect can be obtained.

That is, in the embodiment shown in FIG.
As in the first embodiment, since the primary angular frequency is given by feed forward at the time of startup, a positive sliding angular frequency is given. As a result, a positive torque is generated and start-up can be compensated.

When the parameters used for the simulator 14 are correct, the estimated motor angular frequency ωr ＾ output from the simulator 14 matches the actual motor angular frequency. In this case, the control is the same as the slip angle frequency type vector control with a sensor, and good characteristics can be obtained including at the time of startup.

Although this embodiment is an example applied to a torque control system, as in the above-described seventh embodiment,
Similar effects can be obtained even when applied to torque control having a speed control system inside.

FIG. 16 shows a sixteenth embodiment according to the third invention.
FIG. 2 is a main block diagram showing a schematic configuration of an embodiment of the present invention.
As compared with the embodiment, the calculation part of the primary angular frequency for starting compensation is different, and this different part is the same as the calculation part of the primary angular frequency for starting compensation described in the fifteenth embodiment. It consists of a configuration.

Therefore, according to the embodiment shown in FIG. 16, the same function and effect as those of the fifteenth embodiment can be obtained. This embodiment is an example applied to a torque control system. Although similar to the eighth embodiment, similar effects can be obtained when the present invention is applied to a torque control having a speed control system inside as in the eighth embodiment.

FIG. 17 shows a seventeenth embodiment according to the third invention.
FIG. 3 is a main block diagram showing a schematic configuration of the embodiment;
As compared with the fifteenth embodiment, the calculation part of the primary angular frequency for starting compensation is different, and this difference is the part of calculating the primary angular frequency for starting compensation described in the fifteenth embodiment. It has the same configuration as.

Therefore, according to the seventeenth embodiment configured as described above, the same functions and effects as those of the fifteenth embodiment can be obtained, and in this embodiment, the present invention is applied to a torque control system. However, similar effects can be obtained even when the present invention is applied to torque control having a speed control system inside as in the ninth embodiment.

FIG. 18 shows an eighteenth embodiment according to the third invention.
FIG. 4 is a main part block diagram showing a schematic configuration of the embodiment;
As compared with the fifteenth embodiment, the calculation part of the primary angular frequency for starting compensation is different, and this different part is the part of calculating the primary angular frequency for starting compensation described in the fifteenth embodiment. Has the same configuration as

Therefore, according to the eighteenth embodiment configured as described above, the same operation and effect as in the fifteenth embodiment can be obtained. Although this embodiment also shows an example in which the present invention is applied to a torque control system, the same operation and effect can be obtained even when the present embodiment is applied to a torque control having a speed control system therein as in the tenth embodiment. Can be obtained.

FIG. 19 shows a nineteenth embodiment according to the third invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 19 differs from the fifth embodiment only in the calculation part of the primary angular frequency for starting compensation, and this difference is the same as that of the first embodiment for the starting compensation described in the fifteenth embodiment.
The configuration is the same as that of the calculation part of the secondary angular frequency.

Therefore, according to the present embodiment thus configured, the same operation and effect as those of the fifteenth embodiment can be obtained. This embodiment is also an example in which the present invention is applied to a torque control system. However, similar effects can be obtained by applying the present invention to torque control having a speed control system therein as in the eleventh embodiment.

FIG. 20 shows a twentieth embodiment according to the third invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 20 differs from the sixth embodiment in the calculation part of the primary angular frequency for starting compensation, but this difference is the same as that in the fifteenth embodiment.
The configuration is the same as that of the calculation part of the secondary angular frequency.

Therefore, according to this embodiment having the above-described structure, the same operation and effect as those of the fifteenth embodiment can be obtained, and an example in which this embodiment is also applied to a torque control system is shown. However, similar effects can be obtained when applied to torque control having a speed control system inside as in the twelfth embodiment.

FIG. 21 is a main block diagram showing a schematic configuration of a twenty-first embodiment of the induction motor driving device according to the fourth invention. FIG. 21 is different from the first embodiment only in the calculation part of the primary angular frequency, and therefore only this part will be particularly described.

In the embodiment shown in FIG. 21, an arbitrary angular frequency ω1ofs is used as a primary angular frequency for starting compensation.
(T) 47 is given. This optional angular frequency ω1ofs for startup compensation (t) 47 is multiplied with the first time function shown in the embodiment of (1-f (t)) 51, the product is first-order angular frequency calculator The primary angular frequency ω1 is obtained by directly adding the calculated primary angular frequency to the output of No. 12.

At the time of start-up, an arbitrary angular frequency ω1ofs (t) 47 for start-up compensation acts as an offset with respect to the primary angular frequency calculation value. The arbitrary angular frequency ω1ofs (t) 47 for starting compensation can be set, for example, as follows.

Ω1ofs (t) = c: constant (c: comst) ω1ofs (t) = bt: proportional to time ω1ofs (t) = ω (t): arbitrary pattern The twenty-first embodiment configured as described above According to the form of
The following effects can be obtained.

That is, as described in the first embodiment, the error in the primary angular frequency calculation value is large at the time of startup, and there is a possibility that a negative slip angle frequency is actually given to generate a negative torque. . On the other hand, in the present embodiment, since the primary angular frequency ω1ofs47 for start-up compensation is added as an offset to the calculated value of the primary angular frequency, a positive slip angle frequency can be given to generate a positive torque. In this embodiment, the start-up compensation portion is simplified as compared with the driving device described in the first embodiment. Although this embodiment is an example applied to a torque control system, similar effects can be obtained even when applied to a torque control having a speed control system inside as in the seventh embodiment. it can.

FIG. 22 shows a twenty-second embodiment according to the fourth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 22 differs from the second embodiment only in the calculation part of the primary angular frequency, so that only this difference will be particularly described.

That is, in this embodiment, the arbitrary angular frequency ω1ofs47 shown in the twenty-first embodiment is given as the primary angular frequency for starting compensation. This startup compensation ω
1ofs47 is multiplied by the time function (1-f (t)) 51 shown in the first embodiment, and the product is directly added to the primary angular frequency operation value output from the primary angular frequency calculator 24. Thus, a primary angular frequency ω1 is obtained.

Therefore, according to the twenty-second embodiment configured as described above, the same operation and effect as those of the twenty-first embodiment can be obtained, and this embodiment is also applied to a torque control system. However, similar effects can be obtained when the present invention is applied to torque control having an internal speed control system as in the eighth embodiment.

FIG. 23 is a view similar to FIG.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 23 is different from the third embodiment in the calculation part of the primary angular frequency, so that this part will be particularly described.

That is, in this embodiment, an arbitrary angular frequency ω1ofs47 is given as the primary angular frequency for starting compensation in the same manner as in the twenty-first embodiment. This start-up compensation primary angular frequency ω1ofs47 is multiplied by the time function (1-f (t)) 51 shown in the first embodiment, and the product is the output of the slip angle frequency calculator 21 and the motor angular frequency. A primary angular frequency calculation value, which is the sum of outputs from the calculator 38, is added to generate a primary angular frequency ω1.

Therefore, according to the twenty-third embodiment configured as described above, the same operation and effect as the twenty-first embodiment can be obtained. Although this embodiment shows an example in which the present invention is applied to a torque control system, the same operation can be applied to a case in which the present invention is applied to a torque control having a speed control system therein as in the ninth embodiment. The effect can be obtained.

FIG. 24 shows a twenty-fourth embodiment according to the fourth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 24 differs from the fourth embodiment only in the calculation part of the primary angular frequency, and therefore this different part will be described.

That is, in this embodiment, the arbitrary angular frequency ω1ofs47 shown in the twenty-first embodiment is given as the primary angular frequency for starting compensation. This start-up compensation 1
The secondary angular frequency ω1ofs47 is multiplied by the time function (1-f (t)) 51 shown in the first embodiment. This product is obtained by calculating the motor angular frequency calculated value which is the sum of the output of the magnetic flux angle adjuster 35 and the q-axis induced voltage, and the slip angle frequency calculator 2
1 is directly added to a primary angular frequency calculation value which is the sum of the slip angular frequency which is the output of the primary angular frequency ω.
It becomes 1.

According to the twenty-fourth embodiment configured as described above, the same function and effect as the twenty-first embodiment can be obtained. Although this embodiment is also an example in which the present invention is applied to a torque control system, a similar effect can be obtained when the present embodiment is applied to torque control having a speed control system therein as in the tenth embodiment. .

FIG. 25 shows a twenty-fifth embodiment according to the fourth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 25 differs from the fifth embodiment only in the calculation part of the primary angular frequency, and therefore, this different part will be described.

That is, in this embodiment, the arbitrary angular frequency ω1ofs47 shown in the twenty-first embodiment is given as the primary angular frequency for starting compensation. This start-up compensation 1
The secondary angular frequency ω1ofs47 is multiplied by the time function (1-f (t)) 51 shown in the first embodiment. This product is directly added to the primary angular frequency calculation value which is the sum of the motor angular frequency calculation value output from the motor angular frequency calculator 20 and the slip angle frequency output from the slip angle frequency calculator 21, A primary angular frequency ω1 is generated.

Therefore, according to the twenty-fifth embodiment configured as described above, the same functions and effects as those of the twenty-first embodiment can be obtained. Although this embodiment is also an example in which the present invention is applied to a torque control system, a similar effect can be obtained when applied to a torque control having a speed control system inside as in the eleventh embodiment. .

FIG. 26 shows a twenty-sixth embodiment according to the fourth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 26 is different from the sixth embodiment only in the calculation part of the primary angular frequency, so that this difference will be particularly described.

That is, in this embodiment, the arbitrary angular frequency ω1ofs47 shown in the twenty-first embodiment is given as the primary angular frequency for starting compensation. This start-up compensation 1
The secondary angular frequency ω1ofs47 is multiplied by the time function (1-f (t)) 51 shown in the first embodiment. This product is directly added to the primary angular frequency calculation value which is the sum of the motor angular frequency calculation value output from the motor angular frequency calculator 31 and the slip angle frequency output from the slip angle frequency calculator 21, A primary angular frequency ω1 is generated.

Therefore, according to the twenty-sixth embodiment configured as described above, the same functions and effects as those of the twenty-first embodiment can be obtained. This embodiment is also an example in which the present invention is applied to a torque control system. However, similar effects can be obtained when the present embodiment is applied to torque control having a speed control system therein as in the twelfth embodiment. .

FIG. 27 is a main block diagram showing a schematic configuration of the twenty-seventh embodiment according to the third aspect of the present invention. In FIG. 27, compared with the fifteenth embodiment,
Since a configuration for correcting a simulator parameter is newly added, this configuration will be particularly described.

That is, the start-up compensation is performed by adding the motor angular frequency estimation calculation value ωr ＾ output from the simulator 14 from the torque reference to the motor angular frequency and the slip angle frequency calculation value output from the slip angle frequency calculator 21. A primary angular frequency calculation value is generated, and the deviation between the startup compensation primary angular frequency calculation value and the primary angular frequency calculation value output from the primary angular frequency calculator 12 is input to the parameter adjuster 42. You.
Here, the model of the simulator 14 from the torque reference to the motor angular frequency is set to 1 / Js using the Laplace operator. J is the inertia of the induction motor 4 including the load, and the parameter adjuster 42 has a function of adjusting the inertia J.

Therefore, according to the twenty-seventh embodiment configured as described above, in addition to the same effects as those of the fifteenth embodiment, the following effects can be obtained.

That is, when the inertia J, which is a parameter of the simulator model, is different from the true value in the start mode, the motor angular frequency estimation calculation value ωr ＾ output from the simulator 14 is different from the actual motor angular frequency. Becomes larger, the error increases.
On the other hand, the 1 calculated by the primary angular frequency calculator 12
Conversely, in the calculated secondary angular frequency value, the induced voltage increases as the angular frequency increases, so that the relative error included in the calculated primary angular frequency value decreases. Accordingly, the sum of the motor angular frequency estimation calculation value ωr ＾ output from the simulator 14 and the slip angle frequency calculation value output from the slip angle frequency calculator 21:
By correcting the inertia J, which is a parameter of the simulator model, with a deviation from the primary angular frequency calculation value output from the primary angular frequency calculator 12, an error from the true value of the inertia J is reduced, and the error in the starting motor is reduced. The characteristics are improved.

Further, since the primary angular frequency in the start mode approaches the primary angular frequency in the normal mode which is the output of the primary angular frequency calculator 12, the primary angular frequency in the mode transition is reduced.
The change in the secondary angular frequency is reduced, and a smooth transition from the start mode to the normal mode can be realized.

In other words, in the induction motor driving apparatus according to this embodiment, when there is an error between the parameters of the simulator model and the parameters of the actual machine, the motor angular frequency calculation value calculated by the simulator and the slip angle frequency calculation unit 1 that is the sum of the slip angle frequency calculation value that is the output
To adjust the parameters of the simulator model based on the deviation between the calculated secondary angular frequency and the calculated primary angular frequency calculated by the primary angular frequency calculator 12, the model parameters were corrected to actual values, and the torque reference was followed. Torque response is possible.

Although this embodiment is applied to a torque control system, the same operation and effect can be achieved when applied to a torque control having a speed control system inside as in the seventh embodiment. Can be obtained.

FIG. 28 shows a twenty-eighth embodiment of the third invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 28 is different from the seventeenth embodiment in that a configuration for correcting a simulator parameter is added, so that this configuration will be particularly described.

That is, the deviation between the motor angular frequency estimation calculation value ωr ＾, which is the output of the simulator 14 from the torque reference to the motor angular frequency, and the output of the motor angular frequency calculator 38 is input to the parameter adjuster 42. . Here, the model of the simulator 14 from the torque reference to the motor angular frequency is set to 1 / Js using the Laplace operator s. J
Is the inertia of the induction motor including the load, and the parameter adjuster 42 has a function of adjusting the inertia J.

Therefore, according to the twenty-eighth embodiment configured as described above, the same functions and effects as those of the seventeenth embodiment can be obtained, and further, the following effects can be obtained. That is, when the inertia J which is a parameter of the simulator model is different from the true value in the start mode, the motor angular frequency estimation calculation value ωr ＾ which is the output of the simulator 14 is different from the actual motor angular frequency, and the angular frequency is increased. As the error increases, the error increases.
On the other hand, in the motor angular frequency calculation value calculated by the motor angular frequency calculator 38, since the induced voltage increases with the increase of the angular frequency, the relative error included in the motor angular frequency calculation value decreases. I will do it. Therefore, by correcting the inertia J, which is a parameter of the simulator model, based on the deviation between the two, the error from the true value of the inertia J is reduced, and the characteristics in the startup mode are improved.

The primary angular frequency in the starting mode is the sum of the motor angular frequency calculation value output from the motor angular frequency calculator 38 and the slip angle frequency calculation value output from the slip angle frequency calculator 21. Since the primary angular frequency approaches the normal angular frequency in the normal mode, the change in the primary angular frequency in the transition of the mode becomes small, and a smooth transition from the start mode to the normal mode can be realized.

That is, in the induction motor driving apparatus according to this embodiment, when there is an error between the model parameters of the simulator and the parameters of the actual machine, the motor angular frequency calculation value calculated by the simulator 14 and the motor angular frequency calculator 38 are used. In order to adjust the model parameters of the simulator 14 based on the deviation of the calculated motor angular frequency value,
The model parameters can be corrected to actual values to improve torque characteristics.

Although this embodiment shows an example in which the present invention is applied to a torque control system, the same applies to a case where the present invention is applied to a torque control having a speed control system therein as in the ninth embodiment. The operation and effect can be obtained.

FIG. 29 is a main block diagram showing a schematic configuration of the twenty- ninth embodiment. FIG. 29 differs from the first embodiment only in the part of the primary angular frequency calculation for starting compensation, and therefore, this difference will be particularly described.

That is, in this embodiment, the time function ω which is the primary angular frequency for starting compensation shown in the first embodiment is
A value obtained by adding the output of the axis deviation corrector 43 having the d-axis induced voltage E2d as an input to 1 ^* 13 is defined as a primary angular frequency for starting compensation.

Therefore, according to the twenty-ninth embodiment, the following effects can be obtained in addition to the same functions and effects as those of the first embodiment.

That is, in the starting mode in which the primary angular frequency ω1 * 13 for starting compensation according to the first embodiment is given as the primary angular frequency, the primary angular frequency to be given in order to establish the vector control and the starting angular frequency are set. If the primary angular frequencies ω1 * 13 do not match, vector control is not established, and an axis shift phenomenon in which the actual secondary magnetic flux does not match the d-axis of the rotating coordinate system occurs, and the characteristics may be degraded. In contrast,
The axis deviation is detected by the axis deviation corrector 43 which receives the d-axis induced voltage E2d which should become zero when the vector control is established, and the primary angular frequency ω1 * for starting compensation is obtained .
By correcting 13, the amount of axial deviation can be reduced, and the torque characteristics can be improved.

Note that the method of correcting the axis deviation using the d-axis induced voltage E2d in the start mode in this embodiment can be similarly applied to, for example, the driving device of the fourth embodiment. Although this embodiment shows an example in which the present invention is applied to a torque control system, a similar effect can be obtained when the present invention is applied to a torque control having a speed control system therein as in the seventh embodiment. Can be.

FIG. 30 is a main block diagram showing a schematic configuration of the thirtieth embodiment. FIG. 30 differs from the second embodiment only in the part of the primary angular frequency calculation for starting compensation which is different from that of the second embodiment.

That is, in this embodiment, the time function ω which is the primary angular frequency for starting compensation shown in the second embodiment is
The primary angular frequency for starting compensation is obtained by adding 1 * 13 to the output of the axis deviation compensator 48 which receives the deviation between the torque current reference Iq * on the rotating coordinate system and the torque current Iq as an input.

Therefore, according to the thirtieth embodiment, the same functions and effects as those of the twenty-ninth embodiment can be obtained. However, while the input to the axis deviation corrector 48 is the d-axis induced voltage in the twenty- ninth embodiment, it is the deviation between the torque current reference Iq * and the torque current Iq in this embodiment. Only the points are different, but both are zero state quantities when vector control is established.

The method of correcting shaft misalignment using the deviation between the torque current reference Iq ^* and the torque current Iq in the start mode according to the present embodiment is similarly applied to, for example, the drive device of the sixth embodiment. Can be. This embodiment shows an example applied to a torque control system.
Similar results can be obtained when the present invention is applied to torque control having a speed control system inside as in the eighth embodiment.

FIG. 31 is a main block diagram showing a schematic configuration of the thirty-first embodiment. FIG. 31 differs from the fifth embodiment only in the part of the primary angular frequency calculation for starting compensation which is different from that of the fifth embodiment.

That is, in this embodiment, the time function ω which is the primary angular frequency for starting compensation shown in the fifth embodiment is
A value obtained by adding the output of the axis deviation corrector 49 having the q-axis secondary magnetic flux Φ2q as an input to 1 * 13 is defined as a primary angular frequency for starting compensation. Therefore, according to the thirty-first embodiment, the same function and effect as those of the twenty-ninth embodiment can be obtained.

However, the input to the axis deviation compensator 49 is the second
In the ninth embodiment, the d-axis induced voltage is used. On the other hand, in this embodiment, only the q-axis secondary magnetic flux φ2q is different. Is a state quantity.

This embodiment also shows an example in which the present invention is applied to a torque control system. However, when this embodiment is applied to a torque control having a speed control system inside as in the eleventh embodiment, Similar functions and effects can be obtained.

In summary, in the induction motor driving apparatus according to the twenty-ninth to thirty-first embodiments, when starting from zero speed, if an axis shift occurs due to the primary angular frequency for starting, the axis shift is detected. Since the primary angular frequency is corrected by the amount of state that can be obtained, the axis deviation can be reduced and the torque characteristics can be improved.

FIG. 32 is a main block diagram showing a schematic configuration of the thirty-second embodiment, which relates to a drive device for an induction motor according to the fifth invention. FIG. 32 differs from the first embodiment only in the calculation part of the primary angular frequency and the calculation part based on the magnetic flux, and this difference will be particularly described.

That is, in the thirty-second embodiment, the primary angular frequency calculation value output from the primary angular frequency calculator 12 becomes the primary angular frequency ω1 as it is, and the startup compensation shown in the first embodiment is performed. No primary angular frequency exists. The secondary magnetic flux reference Φ2 ^* is a secondary magnetic flux correction value Φ20 (52) for starting compensation.
And the function (1-f (t)) 51 shown in the first embodiment
And input to the excitation current calculator 5 and the torque current calculator 6.

According to the thirty-second embodiment configured as described above, the following operational effects can be obtained.

That is, at the time of startup, since the reliability of the estimation of the induced voltage is low due to parameter errors and distortion of the output of the voltage source inverter 3, the actual induced voltage or the secondary magnetic flux and the induced voltage or the calculated secondary voltage are calculated. The secondary magnetic flux is greatly different, and the calculated value of the primary angular frequency is also different from the value originally required for establishing the vector control. As a result, an axis shift phenomenon in which the actual secondary magnetic flux does not coincide with the magnetic flux axis of the rotating coordinate system occurs, and the characteristics deteriorate. Therefore, by adding the secondary magnetic flux correction value Φ20 only at the time of startup to the secondary magnetic flux reference and starting up in an overexcitation state, d which appears on the magnetic flux axis on the rotating coordinates
By reducing the ratio of the q-axis magnetic flux (appearing on the torque axis) to the axial magnetic flux, it is possible to reduce the occurrence of axial misalignment and improve the startup characteristics.

This embodiment is an example in which the present invention is applied to a torque control system. However, similar effects can be obtained even when the present invention is applied to a torque control having a speed control system therein as in the seventh embodiment. Obtainable.

FIG. 33 is a circuit diagram showing a thirty-third embodiment according to the fifth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
In FIG. 33, the calculation part of the primary angular frequency and the calculation part based on the magnetic flux are different from those of the second embodiment, and therefore, only this part will be particularly described.

That is, in the thirty-third embodiment, the primary angular frequency value output from the primary angular frequency calculator 24 becomes the primary angular frequency ω1 as it is, and is used for the start-up compensation shown in the second embodiment. Does not exist. Secondary magnetic flux reference Φ
2 ^* is added to the product of the secondary magnetic flux correction value Φ20 (52) for start-up compensation and the function (1-f (t)) 51 shown in the first embodiment, and the exciting current calculator 5 and the torque Current calculator 6
Is input to

According to the thirty-third embodiment configured as described above, the same functions and effects as those of the thirty-second embodiment can be obtained. Although this embodiment is also an example in which the present invention is applied to a torque control system, a similar effect can be obtained when the present embodiment is applied to torque control having a speed control system therein as in the eighth embodiment. .

FIG. 34 shows a thirty-fourth embodiment according to the fifth aspect of the present invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
In FIG. 34, the calculation part of the primary angular frequency and the calculation part based on the magnetic flux are different from those of the third embodiment, so that this difference will be particularly described.

That is, also in the thirty-fourth embodiment, the motor angular frequency value output from the motor angular frequency calculator 38 and the slip angle frequency calculated value output from the slip angle frequency calculator 21 are added. The primary angular frequency calculation value is 1 as it is
The secondary angular frequency is ω1, and the primary angular frequency for starting compensation shown in the third embodiment does not exist. Secondary magnetic flux reference Φ2
^{* Indicates} the start-up compensation secondary magnetic flux correction value Φ20 (52) and the first
Is added to the product of the function (1−f (t)) 51 shown in the embodiment, and is input to the excitation current calculator 5 and the torque current calculator 6.

According to the thirty-fourth embodiment configured as described above, the same operation and effect as the thirty-second embodiment can be obtained. This embodiment also shows an example in which the present invention is applied to a torque control system. However, even when this embodiment is applied to torque control having a speed control system inside as in the ninth embodiment,
Similar functions and effects can be obtained.

FIG. 35 is a view similar to FIG. 35 of the fifth embodiment.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
In FIG. 35, as compared with the fourth embodiment, the calculation part of the primary angular frequency and the calculation part based on the magnetic flux are different, so this part will be particularly described.

That is, in the thirty-fifth embodiment, the motor angular frequency calculation value obtained by adding the output of the magnetic flux angle adjuster 35 and the q-axis induced voltage E2q, and the slip angle which is the output of the slip angle frequency calculator 21 The primary angular frequency calculation value to which the frequency arithmetic value is added becomes the primary angular frequency ω1 as it is, and there is no primary angular frequency for starting compensation shown in the fourth embodiment. The secondary magnetic flux reference Φ2 ^* is calculated based on the secondary magnetic flux correction value Φ20 (52) for starting compensation and the function (1) shown in the first embodiment.
−f (t)) 51 and the result is input to the exciting current calculator 5 and the torque current calculator 6.

Therefore, according to the thirty-fifth embodiment configured as described above, the same operation and effect as those of the thirty-second embodiment can be obtained. Although this embodiment is also an example in which the present invention is applied to a torque control system, a similar effect can be obtained when the present embodiment is applied to torque control having a speed control system therein as in the tenth embodiment. .

FIG. 36 shows a thirty-sixth embodiment according to the fifth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 36 is different from the fifth embodiment in that the calculation part of the primary angular frequency and the calculation part based on the magnetic flux are different, so this difference will be particularly described.

That is, in the thirty-sixth embodiment, the motor angular frequency value output from the motor angular frequency calculator 20 and the slip angle frequency calculated value output from the slip angle frequency calculator 21 are added. The primary angular frequency calculation value is 1 as it is
The secondary angular frequency is ω1, and there is no primary angular frequency for starting compensation as seen in the fifth embodiment. Secondary magnetic flux reference Φ
2 ^* is added to the product of the start-up compensation secondary magnetic flux correction value Φ20 (52) and the function (1-f (t)) 51 shown in the first embodiment, and the excitation current calculator 5 and the torque current It is input to the arithmetic unit 6.

Therefore, according to the thirty-sixth embodiment configured as described above, the same operation and effect as the thirty-second embodiment can be obtained. Although this embodiment is also an example in which the present invention is applied to a torque control system, a similar effect can be obtained when the present embodiment is applied to torque control having a speed control system therein as in the eleventh embodiment.

FIG. 37 shows a thirty-seventh embodiment according to the fifth invention.
It is a principal part block diagram which shows schematic structure of Embodiment of this invention.
FIG. 37 is different from the sixth embodiment in the calculation part of the primary angular frequency and the calculation part based on the magnetic flux.

That is, in the thirty-seventh embodiment, the motor angular frequency value output from the motor angular frequency calculator 31 and the slip angle frequency calculated value output from the slip angle frequency calculator 21 are added. The primary angular frequency calculation value is 1 as it is
The secondary angular frequency is ω1, and there is no primary angular frequency for starting compensation as seen in the sixth embodiment. Secondary magnetic flux reference Φ
2 * is added to the product of the startup compensation secondary magnetic flux correction value Φ20 (52) and the function (1-f (t)) 51 shown in the first embodiment, and the excitation current calculator 5 and the torque current It is input to the arithmetic unit 6.

Therefore, according to the thirty-seventh embodiment configured as described above, the same functions and effects as those of the thirty-second embodiment can be obtained. Also, in this embodiment, an example in which the present invention is applied to a torque control system has been described. However, a similar effect can be obtained when the present invention is applied to torque control having a speed control system therein as in the twelfth embodiment. be able to.

FIG. 38 shows a thirty-eighth embodiment according to the first aspect.
It is a block diagram showing a schematic structure of an embodiment. FIG.
8, the voltage command calculation unit has a different configuration compared to the first embodiment, so that only this portion will be particularly described.

That is, in this embodiment, the magnetic flux current reference Id ^* obtained from the exciting current calculator 5 and the torque current reference Iq ^* obtained from the torque current calculator 6 are the current response values Id, The deviation from Iq is taken, multiplied by the time function f (t) 50 shown in the first embodiment, and the product is input to the current controller 9. Also, 1
The secondary angular frequency ω <b> 1 is input to the startup compensation voltage reference calculator 57, and the output thereof is the time function (1) of the first embodiment.
−f (t)) 51. This product is added to the output of the magnetic flux axis (d-axis) current controller 9 to obtain the magnetic flux axis (d
Axis) voltage reference Vd ^* is obtained. The output of the torque axis (q axis) current controller 9 becomes the torque axis (q axis) voltage reference Vq * as it is.

In this embodiment, it is assumed that the time ts indicating the transition from the start mode to the normal mode is set in advance by the mode transition judging unit 58. That is, the start time is set to 0 (zero), the start is started in the start mode, and the transition to the normal mode is started when a preset time ts is reached.

Therefore, according to the thirty-eighth embodiment configured as described above, the following operation and effect can be obtained. At startup, the time function f (t) 50 is zero, (1-f
(T)) Since 51 is 1, the d-axis voltage command Vd ^* is
The q-axis voltage command Vq * is given by the output of the startup compensation voltage reference calculator 57 and becomes zero. Assuming that the startup compensation voltage reference computing unit 57 has a simple gain that gives an output proportional to the primary angular frequency ω1, the control system at the time of startup has a V / V in which the primary angular frequency is proportional to the primary voltage. The configuration is similar to that of the F control. V / F control is an existing technology, and although the problem that the starting torque is small remains, the point of forward rotation starting is guaranteed.

Although this embodiment also shows an example in which the present invention is applied to a torque control system, the same applies to a case where the present invention is applied to a torque control having a speed control system therein as in the seventh embodiment. Various operational effects can be obtained.

Next, FIG. 39 is a block diagram showing a schematic configuration of a thirty-ninth embodiment according to the first invention. FIG. 39 is different from the second embodiment in the configuration of the operation unit of the voltage command, and therefore, this part will be particularly described.

That is, in this embodiment, the output of the startup compensation voltage reference calculator 57 having the primary angular frequency ω1 as an input is the time function (1-f (t)) 51 of the first embodiment.
Is multiplied by The product and the magnetic flux axis (d-axis) voltage command value output from the voltage command calculator 15 are added to obtain a magnetic flux axis (d-axis) voltage reference Vd ^* . Voltage command calculator 1
The torque axis (q-axis) voltage command value output from 5 becomes the torque axis (q-axis) voltage reference Vq ^* as it is. In this embodiment, it is assumed that ts indicating the point of transition from the start mode to the normal mode is set in advance by the mode transition determiner 58. That is, starting in the start-up mode with the start-up time set to 0, the shift to the normal mode is started when the preset time ts is reached.

According to the thirty-ninth embodiment configured as described above, the same function and effect as the thirty-eighth embodiment can be obtained. Although this embodiment is applied to the torque control system, the same effect can be obtained even when applied to the torque control having a speed control system inside as in the eighth embodiment. .

FIG. 40 is a view similar to FIG. 40 of the first embodiment.
It is a block diagram showing a schematic structure of an embodiment. FIG.
0 is different from that of the third embodiment in the configuration of the operation unit of the voltage command. Therefore, the difference will be particularly described.

That is, in this embodiment, the magnetic flux current reference Id ^* obtained from the excitation current calculator 5 and the torque current reference Iq ^* obtained from the torque current calculator 6 are the current response values Id on the dq axis rotation coordinates. , Iq, and the result is multiplied by the time function f (t) 50 shown in the first embodiment, and the product is input to the current controller 9. Further, the primary angular frequency ω1 is input to the start-up compensation voltage reference computing unit 57, and the output thereof is the time function (1−1) of the first embodiment.
f (t)) 51. The product and the magnetic flux axis (d
Axis) The output of the current controller 9 is added, and the magnetic flux axis (d axis)
The voltage reference Vd ^* is obtained. The output of the torque axis (q-axis) current controller 9 is used as it is, and the torque axis (q-axis) voltage reference Vq
^*

In this embodiment, it is assumed that ts indicating the point of transition from the start mode to the normal mode is set in advance by the mode transition judging unit 58.
That is, starting in the start-up mode with the start-up time set to 0, the shift to the normal mode is started when the preset time ts is reached.

According to the fortieth embodiment configured as described above, the same function and effect as the thirty-eighth embodiment can be obtained. Although an example in which the present invention is applied to a torque control system is also shown in this embodiment, a similar effect can be obtained when applied to a torque control having a speed control system inside as in the ninth embodiment. it can.

FIG. 41 is a view similar to FIG. 41 of the first embodiment.
It is a block diagram showing a schematic structure of an embodiment. FIG.
1 is different from the fourth embodiment in that the operation part of the voltage command is different. Therefore, this difference will be particularly described.

That is, in this embodiment, the magnetic flux current reference Id ^* obtained from the excitation current calculator 5 and the torque current reference Iq ^* obtained from the torque current calculator 6 are the current response value Id on the dq axis rotation coordinates. , Iq, are multiplied by the time function f (t) 50 shown in the first embodiment, and the product is input to the current controller 9. Also,
The primary angular frequency ω1 is input to the startup compensation voltage reference calculator 57, and the output is multiplied by the time function (1-f (t)) 51 of the first embodiment. This product is added to the output of the magnetic flux axis (d-axis) current controller to obtain the magnetic flux axis (d
Axis) voltage reference Vd ^* is obtained. The output of the torque axis (q axis) current controller 9 becomes the torque axis (q axis) voltage reference Vq ^* as it is.

In this embodiment, it is assumed that ts indicating the transition point from the start mode to the normal mode is set in advance by the mode transition judgment unit 58.
That is, starting in the start-up mode with the start-up time set to 0, the shift to the normal mode is started when the preset time ts is reached.

The same functions and effects as those of the thirty-eighth embodiment are obtained by the forty-first embodiment having the structure described above. Further, this embodiment also shows an example in which the present invention is applied to a torque control system. However, similar effects can be obtained even when the present embodiment is applied to torque control having a speed control system inside as in the tenth embodiment. Can be.

FIG. 42 is a sectional view showing a forty-second embodiment according to the first invention.
It is a block diagram showing a schematic structure of an embodiment. FIG.
2 has a configuration different from that of the fifth embodiment in the operation section of the voltage command, and therefore, this difference will be particularly described.

In this embodiment, the output of the voltage reference computing unit 57 for starting compensation, which receives the primary angular frequency ω1 as an input, is multiplied by the time function (1-f (t)) 51 of the first embodiment. Is done. The product is added to the magnetic flux axis (d-axis) voltage command value output from the voltage command calculator 15 to add the magnetic flux axis (d-axis).
The voltage reference Vd ^* is obtained. The torque axis (q-axis) voltage command value output from the voltage command calculator 15 becomes the torque axis (q-axis) voltage reference Vq ^* as it is. Also in this embodiment, it is assumed that ts indicating the transition point from the startup mode to the normal mode is set in advance by the mode transition determining unit 58. That is, starting in the start-up mode with the start-up time set to 0, the shift to the normal mode is started when the preset time ts is reached.

According to the forty-second embodiment configured as described above, the same functions and effects as those of the thirty-eighth embodiment can be obtained. In this embodiment, an example in which the present invention is applied to a torque control system has been described. However, a similar effect can be obtained when the present invention is applied to a torque control having a speed control system therein as in the eleventh embodiment. be able to.

In summary, in the induction motor driving devices according to the thirty-eighth to forty-second embodiments, when starting from zero speed, V is a well-known existing technology that applies a primary voltage proportional to the primary angular frequency. / F control to drive,
Positive torque can be ensured and start-up can be compensated.

Next, FIG. 43 relates to a drive device for an induction motor according to the sixth invention, and is a block diagram showing a schematic configuration of the 43rd embodiment. FIG. 43 differs from the first embodiment only in the configuration for calculating the primary angular frequency for startup compensation, and therefore, this different portion will be particularly described.

That is, in this embodiment, the motor angular velocity detector 59 exists. The detected motor angular velocity is added to the slip angle frequency calculation value calculated by the slip angle frequency calculator 21 from the torque current Iq ^* , and 1 for start-up compensation is added.
The secondary angular frequency is obtained.

According to the forty-third embodiment configured as described above, the following operation and effect can be obtained. That is, at the time of startup, the time function f (t) 50 is zero, (1−f (t))
Since 51 is 1, the sum of the motor angular velocity detected by the motor angular velocity detector 59 and the slip angle frequency calculation value output from the slip angle frequency calculator 21 becomes the primary angular frequency. It has the same configuration as the control. Therefore, a positive torque can be secured, and the torque characteristics at the time of starting can be improved. However, the motor angular velocity detector 59 does not necessarily need to have the accuracy required in vector control. Therefore, for example, it is possible to share the motor angular velocity detector for an emergency brake.

FIG. 44 is a block diagram showing a schematic configuration of a forty-fourth embodiment relating to the induction motor driving device according to the seventh invention. FIG. 44 is different from the first embodiment in that the calculation part of the primary angle frequency for starting compensation is different from that of the first embodiment. Therefore, this different part will be described.

That is, in this embodiment, there is a wheel angular velocity detector 62 for detecting the wheel speed. The detected wheel angular velocity is converted into a motor angular velocity by a motor angular velocity converter 60. The value of the motor angular velocity is added to the calculated value of the slip angle frequency calculated by the slip angle frequency calculator 21 from the torque current Iq ^* , and the sum is used as a value for starting compensation.
It becomes the next angular frequency.

According to the forty-fourth embodiment configured as described above, the following effects can be obtained. That is, at the time of startup, the time function f (t) 50 is zero, (1−f
(T)) Since 51 is 1, the sum of the motor angular velocity calculated from the wheel angular velocity and the slip angle frequency calculation value output from the slip angle frequency calculator 21 is the primary angular frequency. If there is no slippage between the detected wheel and the driving of the motor, the configuration is the same as that of the normal vector control. Therefore,
Positive torque can be ensured, and torque characteristics at the time of startup can be improved. The motor angular velocity detector 59 is
It is not always necessary to have the accuracy required in vector control. Therefore, it can be shared with, for example, a wheel angular velocity detector for an emergency brake installed on a slave wheel.

FIG. 45 is a block diagram showing a schematic configuration of a forty-fifth embodiment according to the drive device for an induction motor of the eighth invention. FIG. 45 is different from the first embodiment in the configuration for calculating the primary angular frequency for starting compensation, which is different from that of the first embodiment. Therefore, this different portion will be mainly described.

That is, in this embodiment, the ground speed detector 61 for detecting the ground speed of the vehicle is provided. The detected ground speed is converted into a motor angular speed by a motor angular speed converter 60. A primary angle frequency for starting compensation is obtained by adding the calculated value of the slip angle frequency calculated by the slip angle frequency calculator 21 from the torque current Iq ^* .

According to the forty-fifth embodiment configured as described above, the following operational effects can be obtained. That is, in this embodiment, the time function f
Since (t) 50 is zero and (1-f (t)) 51 is 1, the sum of the motor angular velocity calculated from the ground speed and the slip angle frequency calculation value output from the slip angle frequency calculator 21 is obtained. Is the primary angular frequency. If there is no slip between the rail and the driving wheels of the motor, the configuration is the same as that of the normal vector control. Therefore, a positive torque can be secured, and the torque characteristics at the time of starting can be improved.

As described in detail above, the driving apparatus for an induction motor according to the present invention has the following effects.

That is, in the drive device for an induction motor according to the first invention, an arbitrary primary angular frequency can be given at the time of starting from zero speed, so that the primary angular frequency is generated such that a positive slip angle frequency is generated. By setting the frequency, a positive torque is secured and start-up compensation becomes possible.

In the drive device for an induction motor according to the second aspect of the invention, the calculated value of the slip angle frequency is given as the primary angular frequency when the motor is started with the motor angular frequency being zero. A frequency can be given, and a torque response close to the torque standard can be achieved.

In the induction motor driving apparatus according to the third aspect of the present invention, a value obtained by adding the calculated value of the motor angular frequency, which is the simulator output at the time of starting from zero speed, to the calculated value of the slip angle frequency is defined as the primary angular frequency. Therefore, if the simulator model and parameters are accurate, and the actual angular frequency matches the simulator angular frequency, the same primary angular frequency as in vector control can be given, and the torque response that follows the torque reference Becomes possible.

In the drive device for an induction motor according to the fourth aspect of the present invention, a positive value is generated by generating a positive slip angle frequency by adding a fixed value to the primary angular frequency at the time of starting from zero speed to generate a positive slip angle frequency. Since it is ensured, start-up compensation becomes possible.

In the drive device for an induction motor according to the fifth invention,
When the motor is started from zero speed, the over-excitation state makes it difficult for the axis to shift, so that the torque characteristics at the time of starting can be improved.

In the drive device for an induction motor according to a sixth aspect of the present invention, when the motor is started from zero speed, the motor angular velocity detected by the motor angular velocity detector plus the calculation of the slip angular frequency is added to the primary angular frequency. , It is possible to give the same primary angular frequency as in vector control,
Therefore, a favorable torque response close to the torque reference is possible.

In the induction motor driving apparatus according to the seventh aspect of the present invention, when starting from zero speed, the wheel angular velocity detected by the wheel angular velocity detector is converted into a motor shaft, and the calculated motor angular velocity is converted to the slip angular frequency. Since the sum of the calculated values is given as the primary angular frequency, if there is no slip between the wheel used for detection and the driving wheel driven by the motor, the same primary angular frequency as in vector control can be given. Thus, a torque response that follows the torque reference is possible.

In the drive device for an induction motor according to the eighth invention, the ground speed detected by the ground speed detector at the time of starting from zero speed is converted into the motor shaft, and the calculated motor angular speed is used to calculate the slip angle frequency. Add 1 minute
Since the primary angular frequency is given as the secondary angular frequency, when there is no slip between the rail and the drive wheel driven by the motor, the primary angular frequency that is the same as that at the time of the vector control can be given, and a torque response that follows the torque reference is possible.

[0205]

As described above, according to the induction motor driving apparatus of the present invention, as a result of providing the start-up compensation circuit, the torque characteristics at the time of start-up are improved, and the start-up mode at zero speed is changed to the normal mode. Is performed smoothly, and the effect obtained by the vector control without using the speed sensor adopted in a train or the like is large.

[Brief description of the drawings]

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

FIG. 2 is a block diagram showing a schematic configuration of a second embodiment of the drive device for the induction motor according to the present invention.

FIG. 3 is a block diagram showing a schematic configuration of a third embodiment of the drive device for the induction motor according to the present invention.

FIG. 4 is a block diagram showing a schematic configuration of a fourth embodiment of a drive device for an induction motor according to the present invention.

FIG. 5 is a block diagram showing a schematic configuration of a fifth embodiment of a drive device for an induction motor according to the present invention.

FIG. 6 is a block diagram showing a schematic configuration of a drive device for an induction motor according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram showing a schematic configuration of a drive device for an induction motor according to a seventh embodiment of the present invention.

FIG. 8 is a block diagram showing a schematic configuration of an eighth embodiment of a drive device for an induction motor according to the present invention.

FIG. 9 is a block diagram showing a schematic configuration of a ninth embodiment of a drive device for an induction motor according to the present invention.

FIG. 10 is a diagram showing a first embodiment of a drive device for an induction motor according to the present invention;
FIG. 1 is a block diagram illustrating a schematic configuration of an embodiment of FIG.

FIG. 11 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention;
FIG. 1 is a block diagram illustrating a schematic configuration of an embodiment.

FIG. 12 is a first view of a drive device for an induction motor according to the present invention;
It is a block diagram showing a schematic structure of a 2nd embodiment.

FIG. 13 is a diagram showing a first embodiment of a drive device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 3rd Embodiment.

FIG. 14 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 4th Embodiment.

FIG. 15 is a diagram showing a first embodiment of a drive device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 5th Embodiment.

FIG. 16 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 6th Embodiment.

FIG. 17 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 7th Embodiment.

FIG. 18 is a first view of a driving device for an induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 8th Embodiment.

FIG. 19 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 9th Embodiment.

FIG. 20 shows a second embodiment of the induction motor driving device according to the present invention.
FIG. 2 is a main part block diagram showing a schematic configuration of an embodiment of FIG.

FIG. 21 is a second view of the drive device for the induction motor according to the present invention.
FIG. 1 is a main part block diagram illustrating a schematic configuration of an embodiment.

FIG. 22 shows a second embodiment of the induction motor driving device according to the present invention.
It is a principal part block diagram which shows schematic structure of 2nd Embodiment.

FIG. 23 is a second view of the drive device for the induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 3rd Embodiment.

FIG. 24 shows a second embodiment of the induction motor driving device according to the present invention.
It is a principal part block diagram which shows schematic structure of 4th Embodiment.

FIG. 25 shows a second embodiment of the induction motor driving device according to the present invention.
It is a principal part block diagram which shows schematic structure of 5th Embodiment.

FIG. 26 is a second view of the drive device for the induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 6th Embodiment.

FIG. 27 is a second view of the drive device for the induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 7th Embodiment.

FIG. 28 is a second view of the drive device for the induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 8th Embodiment.

FIG. 29 is a second view of the drive device for the induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 9th Embodiment.

FIG. 30 is a third view of the induction motor driving device according to the present invention;
FIG. 2 is a main part block diagram showing a schematic configuration of an embodiment of FIG.

FIG. 31 is a third view of the induction motor drive device according to the present invention;
FIG. 1 is a main part block diagram illustrating a schematic configuration of an embodiment.

FIG. 32 is a diagram showing a third embodiment of the induction motor driving device according to the present invention;
It is a principal part block diagram which shows schematic structure of 2nd Embodiment.

FIG. 33 is a third view of the drive device for the induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 3rd Embodiment.

FIG. 34 is a diagram showing a third embodiment of the drive device for the induction motor according to the present invention.
It is a principal part block diagram which shows schematic structure of 4th Embodiment.

FIG. 35 is a third view of the drive device for the induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 5th Embodiment.

FIG. 36 is a third view of the drive device for the induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 6th Embodiment.

FIG. 37 is a third view of the drive device for the induction motor according to the present invention;
It is a principal part block diagram which shows schematic structure of 7th Embodiment.

FIG. 38 shows a third embodiment of the drive device for the induction motor according to the present invention.
It is a block diagram which shows schematic structure of 8th Embodiment.

FIG. 39 is a third view of the drive device for the induction motor according to the present invention;
It is a block diagram showing a schematic structure of a 9th embodiment.

FIG. 40 is a fourth view of the drive device for the induction motor according to the present invention;
FIG. 1 is a block diagram illustrating a schematic configuration of an embodiment of FIG.

FIG. 41 is a fourth view of the drive device for the induction motor according to the present invention;
FIG. 1 is a block diagram illustrating a schematic configuration of an embodiment.

FIG. 42 is a diagram showing a fourth embodiment of the induction motor driving device according to the present invention;
It is a block diagram showing a schematic structure of a 2nd embodiment.

FIG. 43 is a fourth view of the drive device for the induction motor according to the present invention;
It is a block diagram showing a schematic structure of a 3rd embodiment.

FIG. 44 is a fourth view of the induction motor driving device according to the present invention;
FIG. 14 is a block diagram illustrating a schematic configuration of a fourth embodiment.

FIG. 45 shows a fourth embodiment of the induction motor driving device according to the present invention.
It is a block diagram which shows schematic structure of 5th Embodiment.

FIG. 46 is a diagram illustrating a first embodiment of a drive device for an induction motor according to the present invention.
It is a block diagram which shows the detail of the simulator in embodiment.

FIG. 47 is a block diagram showing a schematic configuration of a conventional drive device for an induction motor.

[Explanation of symbols]

Reference Signs List 3 voltage type inverter (power converter) 4 induction motor 5 excitation current calculator 6 torque current calculator 7 current detector 8, 44 (3-phase / dq rotation) coordinate system converter 9 current controller 10, 17, 26, 46 (dq rotation / ab fixed) coordinate system converter 11, 33 induced voltage calculator 12, 24 primary angular frequency calculator 13, 47 primary angular frequency for start-up compensation 14 simulator 15 voltage command calculator 16 (ab fixed coordinates System) Three-phase / two-phase converter 18, 28 (ab fixed coordinate system) Two-phase / three-phase converter 19 Secondary magnetic flux calculator 20, 31, 38 Motor angular frequency calculator 21 Slip angle frequency calculator 22, 34 (Ab fixed / dq rotation) coordinate system converter 27 current source inverter (power converter) 29 secondary magnetic flux / torque current calculator 30 voltage detector 35 magnetic flux angle adjuster 37 voltage / current model stain Calculator 40 Speed controller 42 Parameter adjuster 43, 48, 49 Axis shift corrector 45 (dq rotating coordinate system) 2-phase / 3-phase converter 50, 51 Mode transition gain 52 Start-up compensation secondary magnetic flux correction value 53 Mechanical model 54 Motor angular frequency reference 55, 58 Mode shift judging device 57 Start compensation voltage reference calculator 59 Motor angular speed detector 60 Motor angular speed converter 61 Ground speed detector 62 Wheel angular speed detector

Claims (9)

(57) [Claims] An inverter which converts a direct current into an alternating current according to a voltage command or a current command and supplies electric power to an induction motor, and a three-phase current value or three
Detecting means for detecting a phase voltage value; calculating means for calculating a magnetic flux current reference and a torque current reference on rotational coordinates based on a given magnetic flux reference and torque reference; and the magnetic flux current calculated by the calculating means Calculating means for calculating a voltage command or a current command on a rotating coordinate by introducing a reference and the torque current reference, and converting the voltage command or the current command on the rotating coordinate calculated by the calculating means into a fixed coordinate system. A conversion unit for converting into a voltage command or a current command; a frequency calculation unit for outputting a frequency calculation value based on a detected current value or a detected voltage value from the detection unit; and determining a transition time from a start mode to a normal mode. A primary angular frequency for start-up compensation at the transition time determined by the determining unit and the calculated frequency value to derive a primary angular frequency. Adding means, driving an induction motor, characterized by comprising an integrator means for providing said converting means by integrating the primary angular frequency derived by the adding means. 2. An inverter for converting a direct current into an alternating current by a voltage command or a current command and supplying power to the induction motor, and a three-phase current value or three
Detecting means for detecting a phase voltage value, first converting means for introducing a detected current value or a detected voltage value from the detecting means, converting the detected current value or the detected voltage value on a rotational coordinate into a detected current value or a detected voltage value, Calculating means for calculating a magnetic flux current reference and a torque current reference on a rotating coordinate from the given magnetic flux reference and torque reference; a magnetic flux current reference and a torque current reference calculated by the calculating means; Calculating means for calculating a voltage command or a current command on the rotating coordinates by introducing the detected current value or detected voltage value on the rotating coordinates derived by the converting means; A second conversion unit that converts a voltage command or a current command into the voltage command or the current command on a fixed coordinate; a detected current value or a detected voltage value from the first conversion unit; and a voltage command from the calculation unit. Means for introducing a current command and estimating a primary angular frequency calculation value by calculation; control means for continuously changing and outputting the primary angular frequency calculation value by the estimation means; A slip angle frequency calculating means for deriving a slip angle frequency calculated by introducing a torque current reference as a primary angular frequency for starting compensation when it is determined that the motor angular frequency exceeds a preset value; Adding means for adding the primary angular frequency for starting compensation from the angular frequency calculating means and the calculated primary angular frequency value from the control means to derive a primary angular frequency; A driving device for an induction motor, comprising: integrating means for integrating a secondary angular frequency and supplying the integrated angular frequency to the first and second converting means. 3. An inverter for converting a direct current into an alternating current according to a voltage command or a current command and supplying electric power to the induction motor, and a three-phase current value or three
Detecting means for detecting a phase voltage value; calculating means for calculating a magnetic flux current reference and a torque current reference on rotational coordinates based on a given magnetic flux reference and torque reference; and the magnetic flux current calculated by the calculating means Calculating means for calculating a voltage command or a current command on a rotating coordinate by introducing a reference and a torque current reference; and converting the voltage command or the current command on the rotating coordinate calculated by the calculating means into the voltage command on a fixed coordinate. Or a converting means for converting to a current command; a frequency calculating means for outputting a frequency calculated value based on a detected current value or a detected voltage value from the detecting means; and A slip angle frequency calculating means calculated by a calculation, and a slip angle frequency calculation value calculated by the slip angle frequency calculating means at the time of start-up, and a calculation based on the torque reference. First adding means for deriving a primary angular frequency for starting compensation when it is determined that the motor angular frequency has exceeded a preset value by adding the motor angular frequency to the first adding means; Second addition means for deriving the primary angular frequency by adding the primary angular frequency for start-up compensation and the calculated frequency value, and integrating the primary angular frequency derived by the second addition means. An induction motor driving device, comprising: an integrating means for supplying the first and second converting means. 4. An inverter which converts a direct current into an alternating current according to a voltage command or a current command and supplies electric power to an induction motor, and a three-phase current value or three provided at an output side of the inverter.
Detecting means for detecting a phase voltage value; calculating means for calculating a magnetic flux current reference and a torque current reference on rotational coordinates based on a given magnetic flux reference and torque reference; and the magnetic flux current calculated by the calculating means Calculating means for calculating a voltage command or a current command on a rotating coordinate by introducing a reference and a torque current reference; and converting the voltage command or the current command on the rotating coordinate calculated by the calculating means into the voltage command on a fixed coordinate. Or a conversion unit for converting the current angle into a current command, a detected current value or a detected voltage value from the detection unit, and a voltage command or a current command from the calculation unit are introduced, and a primary angular frequency calculation value is estimated by calculation. Estimating means; frequency calculating means for outputting a calculated frequency value based on the detected current value or detected voltage value from the detecting means; and determining a transition time from the start mode to the normal mode. A control means for continuously changing and outputting a preset primary angular frequency for activation at the movement timing determined by the determination means; and outputting the primary compensation frequency from the control means. Adding means for deriving the primary angular frequency by adding the secondary angular frequency and the calculated frequency value; integrating the primary angular frequency derived by the adding means to supply the integrated primary angular frequency to the first and second conversion means; A driving device for an induction motor, comprising: 5. An adjusting means for adjusting a parameter for calculating the motor angular frequency based on a deviation between the primary angular frequency for starting compensation and the calculated frequency value. Induction motor drive. 6. The drive of an induction motor according to claim 3, further comprising adjusting means for adjusting a parameter for calculating a motor angular frequency based on a deviation between the motor angular frequency and the calculated frequency value. apparatus. 7. A trigger for calculating and outputting a d-axis induced voltage based on a voltage command on a rotational coordinate calculated by said calculating means.
And electromotive voltage calculation means, to introduce the d-axis induced voltage, which is calculated output the induced voltage calculation means, according to claim 1 Symbol, characterized by comprising a correction means for correcting the starting compensation primary angular frequency Drive device of the on-board induction motor. 8. An inverter for converting a direct current into an alternating current in accordance with a voltage command or a current command and supplying power to the induction motor, and a three-phase current value or three
Detecting means for detecting a phase voltage value; frequency calculating means for outputting a calculated frequency value based on a detected current value or a detected voltage value from the detecting means; and a motor angular frequency generated based on a torque reference is preset. Determining means for determining whether the motor angular frequency has exceeded a predetermined value, and determining whether the motor angular frequency has exceeded a predetermined value. Adding means for adding a magnetic flux correction value; based on the magnetic flux reference and the torque reference to which the startup compensation secondary magnetic flux correction value has been added by the adding means, a magnetic flux current reference and a torque current reference on a rotating coordinate are calculated. A calculating means for calculating a voltage command or a current command on rotating coordinates by introducing the magnetic flux current reference and the torque current reference calculated by the calculating means. Conversion means for converting the voltage command or current command on the rotating coordinates calculated by the calculation means into the voltage command or current command on the fixed coordinates; and the voltage command or current command on the fixed coordinates from the conversion means. Estimating means for introducing a voltage command or a current command on the rotational coordinates from the calculating means and estimating a primary angular frequency calculation value by calculation; and calculating the primary angular frequency calculation value estimated by the estimating means. A driving device for an induction motor, comprising: integrating means for integrating and supplying to the converting means. 9. An inverter for converting a direct current into an alternating current according to a voltage command or a current command to supply power to an induction motor, and a three-phase current value or three
Detecting means for detecting a phase voltage value, first converting means for introducing a detected current value or a detected voltage value from the detecting means, converting the detected current value or the detected voltage value into a detected current value or a detected voltage value in a rotating coordinate system, and A calculating means for calculating a magnetic flux current reference and a torque current reference on a rotational coordinate from the given magnetic flux reference and torque reference, and introducing the magnetic flux current reference and the torque current reference calculated by the calculating means, Calculating means for calculating a voltage command or a current command of the coordinate system; and a second conversion for converting the voltage command or the current command of the rotating coordinate system calculated by the calculating means into the voltage command or the current command of the fixed coordinate system. Means, a frequency calculating means for outputting a calculated frequency value based on the detected current value or the detected voltage value from the first converting means, and determining a transition time from the start mode to the normal mode. Disconnecting means; adding means for adding the primary angular frequency for start-up compensation at the transition time determined by the determining means and the calculated frequency value to derive a primary angular frequency; Integrating means for integrating the primary angular frequency to supply the first and second conversion means to the first and second converting means; and generating a primary voltage proportional to the primary angular frequency in the start-up mode. Voltage reference calculating means for adding the next voltage to the d-axis voltage command and the current command supplied to the second conversion means among the voltage command and the current command on the rotating coordinates calculated by the calculating means. A drive device for an induction motor, characterized in that: