JP3528108B2 - Adaptive slip frequency type vector control method and apparatus for induction motor - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention provides an induction motor with high precision,
The present invention relates to an adaptive slip frequency type vector control method and device for highly efficient control.

[0002]

2. Description of the Related Art Conventionally, as a method of controlling an induction motor with high accuracy and high efficiency, the state of the induction motor is coordinated with a secondary magnetic flux axis and an axis orthogonal to the secondary magnetic flux axis (hereinafter referred to as "secondary magnetic flux coordinate"). A vector control method is known which controls the induction motor by capturing the above. As described above, in order to control the induction motor on the secondary magnetic flux coordinate which is the rotational coordinate, it is necessary to detect or estimate the phase of the coordinate. According to the method of obtaining the phase of the secondary magnetic flux coordinates, the vector control method includes a direct type vector control method for directly detecting the phase of the coordinate and an indirect type slip frequency type vector for indirectly obtaining the phase of the coordinate. Although it is roughly classified into a control method, currently, the latter slip frequency type vector control method, which does not require highly accurate magnetic flux detection, is currently being put into practical use.

In the vector control system of the above-mentioned slip frequency type vector control method, the vector component of the primary current on the fixed coordinate is the two vector components of the primary current on the secondary magnetic flux coordinate. To generate a primary voltage command value on the secondary magnetic flux coordinates based on the converted values of the excitation current component and the torque component current and their command values,
The primary voltage command value on the secondary magnetic flux coordinates is converted into the primary voltage command value on the fixed coordinates. The primary voltage applied to the induction motor is controlled based on the primary voltage command value on the fixed coordinates. Further, a slip angular frequency command value is generated based on the values of the torque split current and the excitation split current and the control set value of the electric motor parameter, and based on the slip angular frequency command value, a vector component between the two coordinates. The phase of the secondary magnetic flux coordinate used in the conversion of is generated.

However, the control set values of the motor parameters used to generate the slip angular frequency command value include estimated values such as the secondary resistance of the induction motor which greatly changes with temperature, and these estimations are made. It was not possible to use a single constant as the value over a wide operating range of the induction motor. In this way, if the estimated value of the motor parameter that changes with temperature or the like does not match the actual value, the control performance deteriorates. For example, if the estimated value used for controlling the secondary resistance does not match the actual value, transient vibration or steady deviation occurs in the secondary magnetic flux or torque.

Therefore, among the motor parameters used to generate the slip angular frequency command value, the value of the parameter that changes with temperature or the like or its change is sequentially identified according to the operating state of the induction motor, and the secondary It is known that an adaptive identification system is used to generate the phase of magnetic flux coordinates (hereinafter, this control method is referred to as "adaptive slip frequency vector control method"). The identification of the electric motor parameter is performed based on the acquired source signal by acquiring a signal (hereinafter referred to as “source signal”) that changes according to the operating state of the induction motor, for example. As a concrete example of this adaptive slip frequency type vector control method and device, the detected value of the primary current and the detected value of the three-phase voltage detected by the search coil are converted into vector components on the secondary magnetic flux coordinates, and the converted value is converted. It is used to estimate the secondary magnetic flux without being affected by the secondary resistance based on the model called the normal voltage model, and to estimate the secondary magnetic flux using the secondary resistance identified based on the model called the normal current model. It is known that the deviation between the estimated values of these two secondary magnetic fluxes is taken, and this deviation is input to a continuous time adaptive algorithm called integral + proportionality law to identify the secondary resistance which is one of the motor parameters. (Sugimoto and Tamai:
"Secondary resistance identification method for induction motors using model reference adaptive system and its characteristics", Theory B, Vol.106, No.2, pp.
See 97-104). Further, an AC signal is added to the primary voltage command value to detect a component associated with the AC signal included in a value associated with the primary voltage and a value associated with the primary current, and the primary of the induction motor is detected based on the detected value. It is known that a value irrelevant to the resistance is calculated and the secondary resistance of the induction motor is calculated using this calculated value (see Japanese Patent Laid-Open No. 1-308187).

[0006]

Generally, in adaptive control, it is widely known that a slight modeling error induces instability in an adaptive control system. In the conventional adaptive slip frequency vector control method and device, the mathematical model of the induction motor used for control is only a bold approximation model, and no consideration is given to destabilization of control due to modeling error. , Was not robust against modeling errors. Therefore, the practical use of the above-mentioned adaptive slip frequency type vector control method and apparatus has not yet advanced.

The present invention has been made under the above circumstances, and a first object of the present invention is to provide an adaptive slip frequency vector control method and apparatus which is robust and stable against modeling errors of an induction motor. Is to provide. Also,
A second purpose is to enable adaptive identification of a motor parameter with high accuracy in addition to the above first purpose.

[0008]

In order to achieve the above first object, the invention of claim 1 is an excitation current component and a torque component current which are two vector components of a primary current on a secondary magnetic flux coordinate. Of the secondary magnetic flux coordinates by using the measured values and the command values thereof to generate the command value of the primary voltage and using the values of the excitation current component and the torque component current and the control set values based on the motor parameters. Used in the vector control process for generating the slip angular frequency command value used for determining the phase of the motor and the vector control process according to the operating state of the electric motor .
Alternatively, the primary current generated as a result of the action of the process, the primary current
It is used in the vector control process based on the motor parameter identified by using the measured voltage value or command as the source signal.
An adaptive slip frequency type vector control method for an induction motor having an adaptive identification step of updating the control setting value to use, performs Ri angular frequency command value generating temporally or discrete time continuous in該滑, control settings The value is updated in discrete time when the slip angular frequency command value is generated continuously.
To generate the slip angular frequency command value in discrete time.
In this case, it is characterized in that it is performed in discrete time with a time interval larger than this .

According to the second aspect of the present invention, the primary voltage of the primary voltage is determined based on the measured values of the excitation component current and the torque component current, which are two vector components of the primary current on the secondary magnetic flux coordinate, and their command values . A command value is generated and based on the values of the excitation current component and the torque component current and the motor parameters .
Ku using control setting value, a vector control unit for generating a slip angular frequency command value used for phase determination of the secondary flux coordinates, in accordance with the operation state of the electric motor, the vector control unit
The primary power generated as a result of the action of
Current, a measured value of the primary voltage or a command as a source signal , the vector control is performed based on the identified motor parameter.
An adaptive slip frequency type vector control apparatus for an induction motor and a adaptive identification means for updating the control settings used in control means, the generation of該滑Ri angular frequency command value temporally continuous or discrete temporally performed , When the control set value is updated and the slip angular frequency command value is generated continuously
Generates the slip angular frequency command value in discrete time
When it is performed in time, it is characterized in that it is performed in discrete time with a time interval larger than this .

In order to achieve the second object, the invention of claim 3 is the adaptive slip frequency vector controller for an induction motor according to claim 2, wherein the acquisition of the source signal used by the adaptive identifying means is continuously performed. The control set value is updated in time or in discrete time, and the source signal is acquired in continuous time.
In the case of
In the case of inter-process, it is characterized in that the process is performed in discrete time with a time interval larger than this .

[0011]

According to the first or second aspect of the invention, the primary voltage is based on the measured values of the excitation component current and the torque component current, which are two vector components of the primary current on the secondary magnetic flux coordinates, and their command values. By generating the command value, the excitation current and the torque current are independently controlled. Then, in order to determine the phase of the secondary magnetic flux coordinate used in the vector control, the slip angular frequency command value is generated based on the values of the excitation current component and the torque current component and the control set values of the motor parameters. Then, based on the electric motor parameter identified according to the operating state of the induction motor, by updating the control set value corresponding to the electric motor parameter used when generating the slip angular frequency command value, the control setting of the electric motor parameter is performed. The difference between the actual value and the actual value is reduced to improve the accuracy of the control of the excitation current component and the torque component current. here,
By generating the slip angular frequency command value continuously or discretely, and updating the control set values of the motor parameters discretely at a time interval larger than the generation of the slip angular frequency command value. , The control setting value of the motor parameter is not updated every time the slip angular frequency command value is generated, while the slip angular frequency command value is generated for a predetermined time or a predetermined number of times determined from the viewpoint of stability of vector control, The control set value of the motor parameter can be treated as a constant value.

According to a third aspect of the present invention, the adaptive identification means of the adaptive slip frequency vector controller for an induction motor according to the second aspect acquires a source signal that changes according to the operating state of the induction motor, and acquires the source signal. Identify motor parameters based on the source signal. Here, the acquisition of the source signal used for identifying the motor parameter in the adaptive identifying means is performed continuously or in discrete time, and the control set value of the motor parameter in the vector controlling means is updated by the source signal. Is performed in a discrete time with a larger time interval than the acquisition of. The motor signal is identified once by using the source signal obtained by the acquisition for the predetermined time or the predetermined number of times, and one identification value is obtained, or the motor parameter is identified multiple times by using the source signal. Or to determine the identification value of. In this way, 1 is obtained by using the source signal obtained in a predetermined time or a predetermined number of times.
By calculating the individual identification values, the total S /
By increasing the N ratio, it is possible to identify motor parameters with high accuracy. Then, using the identification value identified with this high accuracy, the control set value corresponding to the electric motor parameter used for generating the slip angular frequency command value is updated.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to an adaptive slip frequency type vector controller for a three-phase induction motor (hereinafter referred to as "adaptive vector controller") will be described below. First, the overall configuration and operation of the adaptive vector control device according to the present embodiment will be described with reference to FIGS. 1 and 2. This adaptive vector control device includes a rotational speed detection device 2 that detects the rotational angular velocity ω2n of the rotor of the induction motor 1 and a current detection device 3 that detects the primary currents iu and iv of the induction motor 1.
And a two-phase / three-phase converter 4 including a 3-2 phase converter 4a and a 2-3 phase converter 4b, a vector control system 51 as vector control means, and an adaptive identification system 52 as adaptive identification means. The main control unit 5 and the power converter 6 including a PWM inverter are provided.

The primary currents iu and iv detected by the current detection device 3 and the remaining current i generated from the current values thereof.
w is converted by the 3-2 phase converter 4a into two phase currents ia and ib which are two vector components orthogonal to each other on a fixed coordinate, and together with the rotational angular velocity ω2n of the rotor, It is input to the vector control system 51 as an external signal.

As shown in FIG. 2, the vector control system 51 includes a vector rotator 51a, a current controller 51b, an inverse vector rotator 51c, and a slip angular frequency command value ωs * for generating a slip angular frequency command value ωs *. It is composed of a generator 51d and a phase generator 51e that generates the phase of the rotational coordinates used by the vector rotator 51a and the inverse vector rotator 51c, and the excitation component current command value id * and the torque component current command value iq are external commands. *, And the values of design parameters (primary resistance, leakage inductance, sampling period, etc.) for properly operating the main control unit 5 are input. In this vector control system 51, the vector rotator 51
The two-phase currents ia and ib on the fixed coordinates by a are the excitation component current id which is two vector components of the primary current on the secondary magnetic flux coordinates (hereinafter, referred to as “rotational coordinates”) on the rotating coordinates.
And the torque component current iq, and the current controller 51b compares the measured values id, iq of the excitation component current and the torque component current with their command values id *, iq *, respectively, and then the primary voltage command on the rotation coordinates. The values vd *, vq * are generated, and the primary voltage command value v on the rotating coordinates is generated by the inverse vector converter 51c.
d *, vq * are primary voltage command values va * on fixed coordinates,
Convert to vb * and output. Then, the 2-3 phase converter 4
The two-phase primary voltage command values va *, vb * are converted into three-phase primary voltage command values vu *, vv *, vw * by b and output to the power converter 6. The power converter 6 uses the three-phase voltage v according to the three-phase primary voltage command values vu *, vv *, and vw *.
u, vv, vw are generated and applied to the induction motor 1.

Further, since the vector rotator 51a and the inverse vector rotator 51c of the vector control system 51 require the phase θ0 of the rotational coordinate, the slip angular frequency command value generator 51d outputs the torque component current. The slip angle frequency command value ωs * is generated based on the measured value iq, the excitation component current command value id *, and the motor parameter control setting value, and the phase generator 51e rotates the slip angle frequency command value ωs * and the rotor rotation. The angular frequency ω0 of the primary voltage command value obtained by adding the detected value ω2n of the speed is integrated to generate the phase θ0 of the rotational coordinate, which is output to the vector rotator 51a and the inverse vector rotator 51c. There is.

As described above, the primary current detection and the primary voltage application are performed in the fixed coordinate system, while the current control in the vector control system 51 is performed in the rotating coordinate system. This is a great feature of the induction motor vector control, and in order to realize high-performance vector control, the vector rotator 51a and the inverse vector rotator 51 that perform conversion of both coordinate systems are used.
High accuracy is required for the phase θ0 of the rotating coordinate which is the input signal to c. This phase θ0 is generated based on the measured value of the rotational angular velocity ω2n of the rotor and the slip angular frequency command value ωs * as described above. Rotational angular velocity ω
With respect to the accuracy of 2n, the rotational speed detection device 2 having a required resolution may be used. On the other hand, the slip angular frequency command value ωs * is generated, for example, by the slip angular frequency command value generator 51d according to the following equation 1. W2 in the equation of this equation 1 is a secondary resistance R2 and a secondary inductance L2 which are motor parameters as shown in the equation of equation 2.
It is the inverse quadratic time constant defined as the ratio of.

[Equation 1] ωs * = (iq / id *) · W2

[Formula 2] W2 = R2 / L2

As can be easily understood from the equations (1) and (2), in order to generate the highly accurate slip angular frequency command value ωs * used for the coordinate conversion, a highly accurate inverse quadratic time constant is required. Needed. That is, a highly accurate inverse quadratic time constant is required to realize high-performance vector control. However, since the secondary resistance R2 that constitutes the secondary time constant greatly varies depending on the temperature, control of the secondary resistance R2 used when the slip angular frequency command value ωs * is generated over a wide operating range of the induction motor. The use of a single constant as the set value is not desirable for high precision vector control.

Therefore, in the present embodiment, the adaptive identification system 52 of the main controller 5 converts the signals (primary voltage value, primary current value, slip angle frequency, etc.) in the adaptive vector control device into the source signal for parameter adaptive identification. And the value of the secondary resistance R2 is identified based on the acquired source signal, and the slip angular frequency command value ω is determined based on the identified value of the secondary resistance R2.
The control set value corresponding to the secondary resistance R2 used when generating s * is updated.

Next, with reference to the timing chart of FIG. 3A, generation of the slip angular frequency command value ωs *, acquisition of a source signal for identifying the secondary resistance R2, and identification of the secondary resistance The relationship between the respective timings of updating the control set value according to the value of R2 will be described. In FIG. 3A, the generation of the slip angular frequency command value ωs * and the acquisition of the source signal are performed continuously (that is, the period is zero), and the control set value of the identified secondary resistance R2 is set. The update is performed in discrete time in the cycle T3. In the timing chart of FIG. 3A, the control setting value of the secondary resistor R2 is not updated during the time t = kT3 to (k + 1) T3 (k is an integer) and becomes constant. The sliding angular frequency command value generator 51d continuously generates the sliding angular frequency command value ωs * using the control setting value of the resistor R2, and the phase generator 51
The phase θ0 of the rotating coordinate is generated at e. Then, at the timing of time t = (k + 1) T3, the control setting value used in the slip angular frequency command value generator 51d is instantly updated with the value of the identified secondary resistance R2.

FIG. 3B shows an example of the configuration of the adaptive identification system 52 of the main control section 5 when controlling based on the timing chart of FIG. 3A. As can be easily understood from FIG. 3B, the source signal is continuously input to the analog adaptive identification circuit 52a, the secondary resistor R2 is identified, and the value of the identified secondary resistor R2 is set. Corresponding signals are continuously output and input to the sample / hold unit 52b having the period T3. As an algorithm for adaptive identification of the secondary resistance R2 in the analog adaptive identification circuit 52a, a continuous time adaptive algorithm (Shin Naka: "adaptive algorithm" industry book, 1990, pp. 163-208)
It was adopted. From the sample and hold device 52b, the cycle T
A signal that changes stepwise every 3 is output. This step-like output signal is sent to the slip angular frequency command value generator 51d of the vector control system 51, so that the control set value corresponding to the secondary resistance R2 is discretely updated.
The period T3, which is a design parameter of the sample and hold device 52b, can be controlled from the outside.

As described above, according to this embodiment, the slip angular frequency command value ωs * is generated continuously, and the control set value is updated based on the value of the secondary resistance R2 identified by the adaptive identification system 52. Is performed in discrete time so that the control set value of the secondary resistance R2 is not updated every time the slip angular frequency command value ωs * is generated, and the slip angle is kept for a predetermined time determined from the viewpoint of stability of vector control. While the frequency command value ωs * is generated, the control setting value of the secondary resistor R2 can be treated as a constant value, so that the destabilization due to the modeling error in the adaptive slip frequency vector control is significantly improved,
At least, the same level of stability as the non-adaptive slip frequency type vector control is ensured.

Further, according to the adaptive vector control device of the present embodiment, the control set value of the secondary resistor R2 used for generating the slip angular frequency command value ωs * can be treated as a constant value from the viewpoint of stability of vector control. Therefore, the stability of vector control can be ensured even when the feedback loop of the vector control system 51 and the feedback loop of the adaptive identification system 52 are intricately entangled.

Further, according to the present embodiment, since the secondary resistance R2 is identified once using the source signal obtained by the acquisition for the predetermined time or the predetermined number of times, the overall S / N ratio for identification is As a result, the secondary resistance R2 can be identified with high accuracy. Since the identification value identified with high accuracy is used as the control setting value corresponding to the secondary resistance R2 used for generating the slip angular frequency command value ωs *, the slip angular frequency command value ωs * with high accuracy is used. Can be generated.

The slip angular frequency command value ωs * in the above embodiment is generated, the source signal for identifying the secondary resistance R2 is acquired, and the control set value is updated by the identified value of the secondary resistance R2. Each timing may be set as shown in the timing chart of FIG. In this example, the generation of the slip angular frequency command value ωs * is performed continuously (that is, the period is zero), the acquisition of the source signal is performed discretely at the period T2, and the identified secondary resistance R2 is obtained. The update of the control set value by the value of is performed in the cycle T3 in discrete time. Here, when n2 is a positive integer (n2 ≧ 1), the cycles T2 and T3 are selected so as to satisfy the following relationship of the following expression 3. That is, the update cycle of the control setting value based on the identified value of the secondary resistance R2 is longer than the acquisition cycle of the source signal for identification.

[Equation 3] T3 = (n2 + 1) · T2 (Hereafter, margin)

FIG. 4B shows an example of the configuration of the adaptive identification system 52 of the main control section 5 when controlling based on the timing chart of FIG. 4A. As can be easily understood from Fig. 4 (b), the discrete-time adaptive identification algorithm (Shin Naka: "Adaptive Algorithm" Industrial Book, 1990, pp. 1
1-134)) digital adaptive identification circuit 52
The source signal sampled in discrete time from the source signal continuously acquired in the period T2 by the sampler 52d is input to c, the secondary resistor R2 is identified, and the identified secondary resistor R2 A signal corresponding to the value is output in discrete time and input to the hold unit 52e having a cycle T3.
The hold device 52e outputs a signal that changes stepwise in each cycle T3. This step-like output signal is sent to the slip angular frequency command value generator 51d of the vector control system 51, so that the control set value corresponding to the secondary resistance R2 is discretely updated. The sampler 52d
And a period T2 which is a design parameter of the hold device 52e.
The period T3 can be controlled from the outside.

Further, in the above embodiment, the generation of the slip angular frequency command value ωs *, the acquisition of the source signal for identifying the secondary resistance R2, and the updating of the control set value by the identified value of the secondary resistance R2 are performed. Each timing may be set as shown in the timing chart of FIG. In this example, the generation of the slip angular frequency command value ωs * is the cycle T1, the acquisition of the source signal is the cycle T2, and the update of the control set value by the identified secondary resistance R2 is the cycle T3. It is implemented in discrete time. Here, n1 and n2 are positive integers (n
1 ≧ 1, n2 ≧ 1), the periods T1, T2 and T3
Are selected so as to satisfy the relationships of the following expressions 4 and 5. That is, the acquisition cycle of the source signal is equal to or larger than the generation cycle of the slip angular frequency command value, and the update cycle of the control set value by the identified secondary resistance R2 is the source for identification. It is longer than the signal acquisition period.

[Equation 4] T2 = n1 · T1

[Equation 5] T3 = (n2 + 1) · T2

FIG. 5 (b) shows an example of the configuration of the adaptive identification system 52 of the main control unit 5 when controlling based on the timing chart of FIG. 5 (a). As can be easily understood from FIG. 5B, in this example, all the processes are performed in discrete time, so that the sampler, the holder, and the sample-holder that connect the discrete-time signal and the continuous-time signal are The digital adaptive identification circuit 52c adopting the discrete time adaptive identification algorithm (Shin-Naka: “Adaptive Algorithm” Industrial Book, 1990, pp.11-134) is acquired discretely in every cycle T2. Source signal is input, and a signal corresponding to the value of the secondary resistance R2 identified in each cycle T3 is output and sent to the slip angular frequency command value generator 51d of the vector control system 51. The control set value corresponding to the resistor R2 is updated in discrete time. The input cycle T2 of the source signal to the digital adaptive identification circuit 52c and the output cycle T3 of the signal corresponding to the value of the identified secondary resistance R2 can be controlled externally. Further, the vector control system 51 operates in a discrete time with the minimum period T1, but the update of the control setting value corresponding to the secondary resistance R2 used in the slip angular frequency command value generator 51d is updated every T3 which is larger than T1. Be implemented.

Further, in the above-mentioned embodiment and its modification, the above-mentioned periods T1, T2 and T3 may be variable, and in such a case, it is set so as to satisfy the equations (3) to (5). .

Further, in the above embodiment, the control for identifying the value of the secondary resistance R2 among a large number of motor parameters has been described, but the present invention is to identify the variation of the secondary resistance R2. Can also be applied, and similar effects can be obtained. The present invention adaptively identifies the secondary inductance L2 in addition to the secondary resistance R2,
The inverse quadratic time constant W2 (= R2 / L2), which is the ratio of the secondary resistance R2 and the secondary inductance L2, and the secondary time constant (L2 / R).
The same effect can be obtained by applying the method of 2) to directly identify the value. In addition, the present invention provides a secondary resistor R2.
The present invention is not limited to the secondary inductance L2, but can be applied to those that identify the value of a motor parameter that changes with time due to temperature changes and the like, and similar effects can be obtained.

Further, in the above embodiment, the slip angular frequency command value generator 51d of the vector control system 51 uses the actual measured value iq of the torque component current, the command value id * of the excitation component current, and the control set value of the motor parameter. The slip angular frequency command value ωs * is generated, but this is merely an example of the generation of the slip angular frequency command value ωs *. When the secondary magnetic flux φ2 can be accurately known, the slip angular frequency command value ωs * can be generated according to the following equation 6 using the mutual inductance M and the inverse quadratic time constant W2. Here, the actual measurement value iq of the torque component current in the equation (6)
Can be approximated by the command value iq *, the slip angular frequency command value ωs * may be generated by using the command value iq * instead of the actual measured value iq of the torque component current in the above embodiment. In this case, it is less likely to be affected by noise as compared with the case where the measured value iq is used.

[Equation 6] ωs * = (iq / (φ2 / M)) · W2

Further, φ2 / M in the equation (6) is expressed by the following equation (7) or (8) using the command value id * of the excitation current component or its measured value id, where s is a differential operator. Can be approximated as Therefore, when generating the slip angular frequency command value ωs * in the above embodiment, the command value id * itself may be used, or the value of (W2 / (s + W2)) · id * may be used. Although the command value id * of the exciting current component is used in the above embodiment, the actual measured value id of the exciting current component is used.
You may use itself, (W2 / (s + W2)) ・
You may use id. However, from the viewpoint of being less likely to be affected by noise, it is preferable to use the command value id * or W2 / (s + W2)) * id * of the excitation current as in the above embodiment.

[Equation 7] φ2 / M ≒ (W2 / (s + W2)) ・ id * ≒ id *

[Equation 8] φ2 / M ≒ (W2 / (s + W2)) ・ id ≒ id

[0033]

According to the first, second or third aspect of the present invention, the control set value of the electric motor parameter is prevented from being updated every time the slip angular frequency command value is generated, which is determined from the viewpoint of stability of vector control. While the slip angular frequency command value is generated for the predetermined time or the predetermined number of times, the control set value of the motor parameter can be treated as a constant value, so that the destabilization due to the modeling error in the adaptive slip frequency vector control is significantly improved. At least, the same level of stability as the non-adaptive slip frequency type vector control is ensured.

In particular, according to the invention of claim 3, the acquisition of the source signal used for identifying the motor parameter in the adaptive identifying means is performed continuously or in discrete time, and the motor parameter in the vector controlling means is obtained. By updating the control set value of the discrete time at a time interval larger than the acquisition of the source signal, the total S /
Increase the N ratio, identify motor parameters with high accuracy,
Since the control value corresponding to the motor parameter used to generate the slip angular frequency command value is updated using the identification value identified with this high accuracy, the adaptive identification of the motor parameter with high accuracy and the slip angular frequency command There is an effect that a value can be generated.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an adaptive vector control device according to an embodiment.

FIG. 2 is a block diagram showing a schematic configuration inside a vector control system of the adaptive vector control device.

FIG. 3A is a diagram showing a generation of a slip angular frequency command value ωs *, acquisition of a source signal for adaptive identification of a secondary resistance R2, and adaptively identified secondary resistance R in the same adaptive vector controller.
The timing chart of the update of the control set value by the value of 2.
FIG. 3B is a block diagram showing a schematic configuration inside an adaptive identification system of the adaptive vector control device.

FIG. 4A shows generation of a slip angular frequency command value ωs * and secondary resistance R2 in an adaptive vector control device according to a modification.
10 is a timing chart of acquisition of a source signal for adaptive identification of the above, and update of a control set value by the value of the secondary resistance R2 that is adaptively identified. FIG. 3B is a block diagram showing a schematic configuration inside an adaptive identification system of the adaptive vector control device.

FIG. 5A shows generation of a slip angular frequency command value ωs *, acquisition of a source signal for adaptive identification of the secondary resistance R2, and adaptive identification in the adaptive vector control device according to another modification. The timing chart of the update of the control set value by the value of the next resistance R2. FIG. 3B is a block diagram showing a schematic configuration inside an adaptive identification system of the adaptive vector control device.

[Explanation of symbols]

1 induction motor 2 Rotational speed detector 3 Current detector 4 2 phase / 3 phase converter 5 Main control unit 6 Power converter 51 Vector control system 51a vector rotator 51b Current controller 51c Inverse vector rotator 51d Sliding angular frequency command value generator 51e Phase generator 52 Adaptive identification system 52a Analog type adaptive identification circuit 52b Sample and hold device 52c Digital adaptive identification circuit 52d sampler 52e Hold device

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) H02P 21/00 G05B 13/02 H02P 5/41

Claims (3)

(57) [Claims] 1. A based on the measured values and their command value of the exciting component current and torque current are two vector components of the primary current on the secondary magnetic flux coordinate, and generates a command value of the primary voltage, A vector control step of generating a slip angular frequency command value used for determining the phase of the secondary magnetic flux coordinate by using the values of the excitation current component and the torque component current and the control set values based on the motor parameters, and the operation of the motor. Depending on the state, the vector control process used or the process
Measured value of the primary current, the primary voltage generated as a result of
Based on the motor parameters identified using the command as a source signal in the adaptive slip frequency type vector control method for an induction motor having an adaptive identification step of updating the control settings used in the vector control process,該滑Ri The generation of the angular frequency command value is performed continuously or discretely, and the control set value is updated in discrete time when the slip angular frequency command value is continuously generated.
If the slip angular frequency command value is generated in discrete time,
In this case, an adaptive slip frequency type vector control method for an induction motor is characterized in that it is performed in discrete time with a time interval larger than this . 2. Based on the measured values and their command value of the exciting component current and torque current are two vector components of the primary current on the secondary magnetic flux coordinate, and generates a command value of the primary voltage, Vector control means for generating a slip angular frequency command value used for determining the phase of the secondary magnetic flux coordinate by using the values of the excitation current component and the torque component current and the control set values based on the motor parameters, and the operation of the motor. Depending on the state, the vector control means used or the operation of the means
Measured value of the primary current, the primary voltage generated as a result of
Based on the motor parameters identified using the command as a source signal in the adaptive slip frequency type vector control apparatus for an induction motor and a adaptive identification means for updating the control settings used in the vector control unit, the slip angle performed generation of frequency instruction value temporally continuous or discrete time, discrete temporal line when updating the control set value, the generation of該滑Ri angular frequency command value temporally continuous
If the slip angular frequency command value is generated in discrete time,
In this case, the adaptive slip frequency vector controller for the induction motor is characterized in that it is performed in discrete time with a time interval larger than this . 3. The adaptive slip frequency vector controller for an induction motor according to claim 2, wherein the source signal used by the adaptive identifying means is acquired continuously or discretely, and the control set value is updated. To acquire the source signal continuously.
In the case of
An adaptive slip frequency type vector control device for an induction motor, characterized in that it is performed discretely with a time interval larger than this when it is performed in an interim manner.