JPH0136349B2 - - Google Patents
Info
- Publication number
- JPH0136349B2 JPH0136349B2 JP55178261A JP17826180A JPH0136349B2 JP H0136349 B2 JPH0136349 B2 JP H0136349B2 JP 55178261 A JP55178261 A JP 55178261A JP 17826180 A JP17826180 A JP 17826180A JP H0136349 B2 JPH0136349 B2 JP H0136349B2
- Authority
- JP
- Japan
- Prior art keywords
- value
- output
- induction motor
- voltage
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000006698 induction Effects 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims 1
- 230000004907 flux Effects 0.000 description 17
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000003321 amplification Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Description
【発明の詳細な説明】
この発明は誘導電動機の二次磁束分電流とトル
ク分電流を制御するいわゆるベクトル制御と呼ば
れる誘導電動機の速度制御装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed control device for an induction motor, called vector control, which controls the secondary magnetic flux component current and torque component current of the induction motor.
誘導電動機のベクトル制御の一例を概説する。
誘導電動機のＴ形等価回路（１相分）を第１図に
示す。第１図において、r1は１次抵抗、l1は１次
漏れインダクタンス、Ｍは相互インダクタンス、
l2は２次漏れインダクタンス、r2は２次抵抗、I〓1
は１次電流、I〓Mは空〓磁束分電流I〓2は２次電流、
ωは２次電流I〓2の角周波数、ωrは回転子回転角速
度、ωsは回転子すべり角速度、ｐは極対数、V〓1
は相端子電圧、V〓2は相端子電圧V〓1から１次抵抗
r1の電圧をベクトル的に引いた電圧、E〓Mは相互イ
ンダクタンスＭの電圧、E〓2は（r2＋r2ωr／ωs＝r2
ω／pωs）の電圧である（〓はベクトルを表わす）。 An example of vector control of an induction motor will be outlined.
Figure 1 shows the T-type equivalent circuit (for one phase) of an induction motor. In Figure 1, r 1 is the primary resistance, l 1 is the primary leakage inductance, M is the mutual inductance,
l 2 is the secondary leakage inductance, r 2 is the secondary resistance, I〓 1
is the primary current, I〓 M is the empty magnetic flux current I〓 2 is the secondary current,
ω is the angular frequency of the secondary current I〓 2 , ω r is the rotor rotational angular velocity, ω s is the rotor slip angular velocity, p is the number of pole pairs, V〓 1
is the phase terminal voltage, V〓 2 is the phase terminal voltage V〓 1 to the primary resistance
The voltage obtained by vectorially subtracting the voltage of r 1 , E〓 M is the voltage of mutual inductance M, and E〓 2 is the voltage of (r 2 + r 2 ω r /ω s = r 2 ω/pω s ) (〓 represents a vector).
電圧E〓2を基準ベクトルにとりベクトル図を描く
と第２図のようになる。即ち、２次電流I〓2はωs＞
０であれば電圧E〓2と同相、ωs＜０であれば電圧
E〓2と逆相でE2／ωr2／pωsの大きさ、２次漏れイ
ンダクタンスl2の電圧は２次電流I〓2より90゜進相で
I〓2・ωl2の大きさ、相互インダクタンス電圧E〓Mは
電圧E〓2と２次漏れインダクタンスl2の電圧のベク
トル和、空〓磁束分電流I〓Mは相互インダクタンス
電圧E〓Mより90゜遅相でEM／ωMの大きさ、１次電
流I〓1は２次電流I〓2と空〓磁束分電流I〓Mのベクトル
和、電圧V〓2は相互インダクタンス電圧E〓MにI〓1よ
り90゜進相の１次漏れインダクタンスl1の電圧
jωlI〓1を加えたもの、相端子電圧V〓1は電圧V〓2に１
次電流I〓1と同相の１次抵抗r1の電圧r1I〓1を加えた
ものである。ここで１次電流I〓1を２次電流I〓2と同
相のトルク分電流I〓2Lと２次電流I〓2よりωs＞０のと
き90゜遅相、ωs＜０のとき90゜進相の２次磁束分電
流I〓2Mに分解する。I〓1，I〓2，I〓M，I〓2LおよびI
〓2Mには
次の関係が成立する。If we draw a vector diagram using the voltage E〓 2 as the reference vector, it will look like Figure 2. That is, the secondary current I〓 2 is ω s >
If 0, it is in phase with the voltage E〓 2 , if ω s < 0, the voltage
The magnitude of E 2 /ωr 2 /pω s is in opposite phase to E〓 2 , and the voltage of secondary leakage inductance l 2 is 90° ahead of the secondary current I〓 2 .
The magnitude of I〓 2・ωl 2 , the mutual inductance voltage E〓 M is the vector sum of the voltage E〓 2 and the voltage of the secondary leakage inductance l 2 , the empty magnetic flux component current I〓 M is from the mutual inductance voltage E〓 M Magnitude of E M /ωM at 90° phase lag, primary current I〓 1 is secondary current I〓 2 and empty magnetic flux component current I〓 Vector sum of M , voltage V〓 2 is mutual inductance voltage E〓 M I〓 Primary leakage inductance l 90° ahead of 1 Voltage of 1
jωlI〓 1 plus phase terminal voltage V〓 1 is voltage V〓 2 plus 1
It is the sum of the secondary current I〓 1 and the voltage r 1 I〓 1 of the primary resistance r 1 in the same phase. Here, the primary current I〓 1 is the secondary current I〓 2 and the torque component current I〓 2L and the secondary current I〓 2. When ω s > 0, the phase is 90° delayed, and when ω s < 0, it is 90°.゜ Phase-advanced secondary magnetic flux current I〓 Decomposed into 2M . I〓 1 , I〓 2 , I〓 M , I〓 2L and I
〓 The following relationship holds true for 2M .
I〓1＝I〓M＋I〓2＝E〓2＋jωl2I〓2／jωM＋I〓2Ｍ
＋l2／ＭI〓2
＋E〓2／jωM＝I〓2L＋I〓2M ……(a)
I〓2L＝Ｍ＋l2／ＭI〓2＝Ｍ＋l2／Ｍ・E〓2／ω・pω
s／r2……(b)
I〓2M＝E〓2／jωM ……(c)
即ち、１次電流I〓1はE〓2／ωを一定とすると、大
きさが一定で電圧E〓2より90゜遅相の２次磁束分電
流I〓2Mと大きさがpωs／r2に比例し電圧E〓2とPωs＞
０のとき同相、Pωs＜０のとき逆相のトルク分電
流I〓2Lの和になる。 I〓 1 ＝I〓 M ＋I〓 2 ＝E〓 2 ＋jωl 2 I〓 2 ／jωM＋I〓 2 M
+l 2 /MI〓 2 +E〓 2 /jωM=I〓 2L +I〓 2M ...(a) I〓 2L =M+l 2 /MI〓 2 =M+l 2 /M・E〓 2 /ω・pω
s / r 2 ...(b) I〓 2M = E〓 2 /jωM ...(c) That is, the primary current I〓 1 is E〓 2 If /ω is constant, the magnitude is constant and the voltage E〓 The secondary magnetic flux component current I〓 2M whose phase is 90° slower than 2 is proportional to pω s /r 2 , and the voltage E〓 2 and Pω s ＞
When Pω s <0, it is the sum of the in-phase torque component current I〓 2L, and when Pω s <0, it is the opposite-phase torque component current I〓 2L .
ところで、誘導電動機のトルクτは相数をｍと
すると、
τ＝ｍ・ｐ・（E2／ω）2・pωs／r2 ……(d)
ｍ・ｐ・E2／ω・I2＝ｍ・ｐ・E2／ω・Ｍ／Ｍ＋l2・
I2L
……(e)
である。(d)、(e)式からE2／ωを一定に保てば回
転子すべり角速度ωsとトルクτおよびトルク分
電流I2Lとトルクτは比例する。 By the way, the torque τ of the induction motor is as follows, assuming the number of phases is m: τ=m・p・(E 2 /ω) 2・pω s /r 2 ...(d) m・p・E 2 /ω・I 2 =m・p・E 2 /ω・M/M+l 2・
I 2L ...(e). From equations (d) and (e), if E 2 /ω is kept constant, rotor slip angular velocity ω s and torque τ, and torque component current I 2L and torque τ are proportional.
ベクトル制御はE2／ωを過渡状態を含む全て
の状態において一定に制御しようとするものであ
り、そのためには誘導電動機に下記によつて求め
たI〓1を供給する。まず、
(イ) ２次磁束分電流I〓2Mの大きさは(c)式から求め
る。ただし、E2／ωは予め定めた値を用いる。
２次磁束分電流I〓2Mの大きさは一定である。 Vector control attempts to control E 2 /ω to be constant in all states including transient states, and for this purpose, I〓 1 determined as below is supplied to the induction motor. First, (a) The magnitude of the secondary magnetic flux current I〓 2M is found from equation (c). However, a predetermined value is used for E 2 /ω.
The magnitude of the secondary magnetic flux current I〓 2M is constant.
(ロ) ２次磁束分電流I〓2Mの周波数は常にω＝pωr
＋pωsとする。(b) Secondary magnetic flux current I〓 The frequency of 2M is always ω=pωr
+ pωs .
(ハ) pωrは回転子回転角速度ωrをｐ倍することに
より求める。(c) pω r is determined by multiplying the rotor rotational angular velocity ω r by p.
(ニ) pωsは必要なトルクτを発生できるように(d)
式から求める。ただし、E2／ωは予め定めた
値を用いる。(d) pω s can generate the necessary torque τ (d)
Obtain from the formula. However, a predetermined value is used for E 2 /ω.
(ホ) ２次磁束分電流I〓2Mの位相θはθ0を初期位相、
時間をｔとするときθ＝∫ωdt＋θ0とする。(E) Secondary magnetic flux current I〓 The phase θ of 2M is θ 0 as the initial phase,
When time is t, θ=∫ωdt+θ 0 .
(ヘ) トルク分電流I〓2Lの大きさは(ニ)で求めたpωs
と
予め定めたE2／ωを用い(b)式から求める。(f) The magnitude of torque component current I〓 2L is pω s obtained in (d)
It is determined from equation (b) using the predetermined E 2 /ω.
(ト) トルク分電流I〓2Lの位相はpωs＞０なら２次磁
束分電流I〓2Mより90゜進相、pωs＜０なら２次磁
束分電流I〓2Mより90゜遅相となる。(g) If pω s > 0, the phase of the torque component current I〓 2L is 90° ahead of the secondary magnetic flux component current I〓 2M , and if pω s < 0, the phase of the secondary magnetic flux component current I〓 is 90° behind 2M . Become.
(チ) (a)式からわかるように既に求めた２次磁束分
電流I〓2Mとトルク分電流I〓2Lを加えて１次電流I〓1
を求める。(H) As can be seen from equation (a), the already calculated secondary magnetic flux current I = 2M and torque component current I = 2L are added to obtain the primary current I = 1
seek.
(リ) 誘導電動機に(チ)で求めた１次電流I〓1を供給す
る。(li) Supply the primary current I〓 1 obtained in (ch) to the induction motor.
さて、従来この種の誘導電動機の速度制御装置
として第３図に示すものがあつた。図において、
１は交流電源、２は誘導電動機、３は交流電源１
から電力の供給を受け、また後述する方法で作つ
たpωsおよび角周波数ωの信号を受け、誘導電動
機２に前述の(a)式を満足する１次電流I〓1を供給す
る制御装置、４は回転子角速度指令ωr0のｐ倍を
発生する速度指令器、５は誘導電動機２に機械的
に取り付けられた速度検出器、６は速度検出器５
が出力する信号をpωrに変換する速度増幅器（速
度検出器５がpωrの信号を出力するようなもので
あれば不要）、１４はpωr0とpωrとの差を求める
減算器、７はその差が所定範囲内であればその差
を出力し、所定範囲を超えれば所定値を出力する
制限器、８は制限器７の出力を増幅する増幅器
（位相補償器を含む場合もある）で、増幅器８の
出力がpωsである。pωrとpωsは加算器１５で加算
されて角周波数ωとなる。ここで、pωsはトルク
分電流I〓2Lを決定するために、ωは２次磁束分電
流I〓2Mとトルク分電流I〓2Lの角周波数を決定するた
めに必要となる。 Now, as a conventional speed control device for this type of induction motor, there has been one shown in FIG. In the figure,
1 is AC power supply, 2 is induction motor, 3 is AC power supply 1
a control device which receives electric power from the inverter, receives signals of pω s and angular frequency ω generated by a method described later, and supplies the induction motor 2 with a primary current I〓 1 that satisfies the above-mentioned formula (a); 4 is a speed command device that generates p times the rotor angular velocity command ω r0 , 5 is a speed detector mechanically attached to the induction motor 2, and 6 is a speed detector 5.
A speed amplifier converts the signal outputted by pω r into pω r (unnecessary if the speed detector 5 outputs a pω r signal), 14 is a subtracter that calculates the difference between pω r0 and pω r , 7 is a limiter that outputs the difference if it is within a predetermined range, and outputs a predetermined value if it exceeds the predetermined range, and 8 is an amplifier that amplifies the output of the limiter 7 (it may also include a phase compensator). Then, the output of amplifier 8 is pω s . pω r and pω s are added by an adder 15 to obtain the angular frequency ω. Here, pω s is necessary to determine the torque component current I〓 2L , and ω is necessary to determine the angular frequency of the secondary magnetic flux component current I〓 2M and the torque component current I〓 2L .
次に第３図の動作について、E2／ωを一定に
制御し、さらにpωsを必要なトルクτに比例させ
るように制御するものとして説明する。速度指令
器４の出力pωr0と速度増幅器６の出力pωrとの差
は指令回転子角速度の差のｐ倍でこれをｋ倍した
量だけトルクτが必要であるとする。しかし、誘
導電動機２が発生できるトルクτの限度、制御装
置３が流し得る電流の限度などからそれに制限を
設ける。pωr0−pωrが制限器７の制限値を超えな
いときは、制限器７の出力としてそのまま出力さ
れ、制限値を超えたときは制限器７の制限値が出
力される。制限器７の出力はτ／ｋを意味する。
増幅器８の増幅率を(d)式から｛r2／ｍ・ｐ・
（E2／ω）2｝・ｋに選ぶと増幅器８の出力はpωsと
なる。pωsとpωrは加算されて角周波数ωとなる。
制御装置３にpωsと角周波数ωとが入力される。
制御装置３は前述した方法で２次磁束分電流I〓2M
およびトルク分電流I〓2Lを決定し、次いで１次電
流I〓1を決定して誘導電動機２に供給する。 Next, the operation shown in FIG. 3 will be explained assuming that E 2 /ω is controlled to be constant and pω s is controlled to be proportional to the required torque τ. It is assumed that the difference between the output pω r0 of the speed command device 4 and the output pω r of the speed amplifier 6 is p times the difference in the commanded rotor angular velocity, and the torque τ is required by an amount k times this difference. However, there are limits to this due to the limit of the torque τ that the induction motor 2 can generate, the limit of the current that the control device 3 can flow, and so on. When pω r0 −pω r does not exceed the limit value of the limiter 7, it is output as is as the output of the limiter 7, and when it exceeds the limit value, the limit value of the limiter 7 is output. The output of limiter 7 means τ/k.
The amplification factor of the amplifier 8 is calculated from equation (d) as {r 2 /m・p・
If (E 2 /ω) 2 }·k is selected, the output of the amplifier 8 will be pω s . pω s and pω r are added to form the angular frequency ω.
pω s and the angular frequency ω are input to the control device 3.
The control device 3 controls the secondary magnetic flux current I〓 2M using the method described above.
and the torque component current I〓 2L , and then the primary current I〓 1 is determined and supplied to the induction motor 2.
以上説明したように従来の誘導電動機の速度制
御装置は、誘導電動機２の２次抵抗r2などの定数
が不変である場合は安定で、かつ高応答の制御が
可能であるが、誘導電動機２の発熱および周囲温
度変化によつて２次抵抗r2は50％程度変化し、こ
のように定数が変化する場合は誘導電動機２の発
生トルクに振動が生じ不安定になるという問題点
があつた。 As explained above, the conventional induction motor speed control device is capable of stable and highly responsive control when constants such as the secondary resistance r2 of the induction motor 2 remain unchanged; The secondary resistance r2 changes by about 50% due to heat generation and changes in ambient temperature, and when the constant changes like this, there is a problem that the torque generated by the induction motor 2 becomes unstable due to vibrations. .
この発明は上記のような問題点を解消するため
になされたもので、２次抵抗の温度変化を補償す
ることにより、常に安定でかつ高応答な誘導電動
機のベクトル制御装置を提供するものである。 This invention was made to solve the above problems, and provides a vector control device for an induction motor that is always stable and highly responsive by compensating for temperature changes in the secondary resistance. .
以下この発明の一実施例を説明する。説明に先
立ち、電圧V〓2を数式に表わすと下記のようにな
る。 An embodiment of this invention will be described below. Prior to the explanation, the voltage V〓 2 can be expressed mathematically as follows.
V〓2＝E〓2＋jωl2I〓2＋jωl1I〓1
＝E〓2／ω｛Ｍ＋l1／Ｍ・ω＋ｊ（l2＋l1Ｍ＋l2／
Ｍ）
・ω・Pωs／r2｝ ……(f)
従つて電圧V〓2はE〓2／ω、１次漏れインダクタ
ンスl1、相互インダクタンスＭ、２次漏れインダ
クタンスl2および２次抵抗r2が定数であれば変数
pωsおよび角周波数ωの関数として求めることが
できる。ここで、E2／ω、１次漏れインダクタ
ンスl1、相互インダクタンスＭ、２次漏れインダ
クタンスl2を定数、２次抵抗r2，pωsを変数とし
てトルクτ，pωs、２次抵抗r2の関係を考える。 V〓 2 =E〓 2 +jωl 2 I〓 2 +jωl 1 I〓 1 =E〓 2 /ω{M+l 1 /M・ω+j(l 2 +l 1 M+l 2 /
M) ・ω・Pω s /r 2 } ...(f) Therefore, the voltage V〓 2 is E〓 2 /ω, primary leakage inductance l 1 , mutual inductance M, secondary leakage inductance l 2 and secondary resistance variable if r 2 is constant
It can be determined as a function of pω s and angular frequency ω. Here, E 2 /ω, primary leakage inductance l 1 , mutual inductance M, and secondary leakage inductance l 2 are constants, and secondary resistance r 2 and pω s are variables, and the torque τ, pω s and secondary resistance r 2 are Consider the relationship between
(d)式からトルクτとpωs／r2とが比例関数にあ
る。従つて、あるトルクτを出力するためには２
次抵抗r2が温度によつて変化するとpωsもそれに
伴つて変化させなければE2／ωを一定にできな
い。即ち温度が基準温度のときの２次抵抗r2を
r20、回転子すべり角速度ωsをωs0とすると、
pωs／r2＝pωs0／r20 ……(g)
の関係がある。この発明は２次抵抗r2の変化に伴
い、pωsを変化させることによつてE2／ωを２次
抵抗r2の温度変化に関係なく一定にするものであ
る。 From equation (d), torque τ and pω s /r 2 are in a proportional function. Therefore, in order to output a certain torque τ, 2
If the second-order resistance r 2 changes with temperature, E 2 /ω cannot be made constant unless pω s also changes accordingly. In other words, the secondary resistance r 2 when the temperature is the reference temperature is
r 20 and the rotor slip angular velocity ω s is ω s0 , then pω s /r 2 =pω s0 /r 2 0 ……(g). This invention makes E 2 /ω constant regardless of temperature changes in the secondary resistance r 2 by changing pω s as the secondary resistance r 2 changes.
第４図はこの発明の一実施例のブロツク図で、
符号１〜８は第３図に示した従来装置と同じ構成
であるので重複説明を省略する。９は制御装置３
の出力電圧、即ち相端子電圧V〓1と制御装置３の
出力電流、即ち１次電流I〓1を入力しV〓2＝V〓1−r1I
〓1
を求め、それから電圧V〓2の大きさを演算するV2
演算器、１０はpωs0と角周波数ωとを入力とし、
(f)式において２次抵抗r2をr20としたときの電圧
V〓2の大きさ（これをV20とする）を演算するV20
演算器、１６はV2演算器９とV20演算器１０との
差を出力する第２の減算器、１１は第２の減算器
１６の出力を積分する積分器、１２は単位信号
「１」を発生する単位信号発生器、１３は乗算器、
１７は第３の減算器である。 FIG. 4 is a block diagram of an embodiment of this invention.
Reference numerals 1 to 8 have the same configurations as the conventional device shown in FIG. 3, and therefore redundant explanation will be omitted. 9 is the control device 3
Input the output voltage of the controller 3, that is, the phase terminal voltage V〓 1 , and the output current of the control device 3, that is, the primary current I〓 1 , and obtain V〓 2 = V〓 1 −r 1 I
〓 1
, and then calculate the magnitude of the voltage V〓 2V 2
Arithmetic unit 10 receives pω s0 and angular frequency ω as input,
Voltage when secondary resistance r 2 is set to r 20 in equation (f)
V 20 to calculate the magnitude of V〓 2 (this is taken as V 20 )
16 is a second subtractor that outputs the difference between the V 2 arithmetic unit 9 and the V 20 arithmetic unit 10; 11 is an integrator that integrates the output of the second subtractor 16; 12 is a unit signal "1"; 13 is a multiplier,
17 is a third subtractor.
次に第４図の動作について説明する。ただし、
増幅器８の増幅率は前述の｛r2／ｍ・ｐ・（E2／
ω）2｝・ｋの２次抵抗r2をr20に置き換えた｛r20／
ｍ・ｐ・（E2／ω）2｝ｋとする。従つて増幅器８
の出力は２次抵抗r2がr20のときのpωs即ちpωs0と
なり制御装置３に入力される。制御装置３は(g)式
を(b)式に代入して得られる次式からI〓2Lを演算す
る。 Next, the operation shown in FIG. 4 will be explained. however,
The amplification factor of the amplifier 8 is the above-mentioned {r 2 /m・p・(E 2 /
ω) 2 }・k's secondary resistance r 2 is replaced with r 20 {r 20 /
Let m・p・(E 2 /ω) 2 }k. Therefore amplifier 8
The output becomes pω s when the secondary resistance r 2 is r 20 , that is, pω s0 , and is input to the control device 3. The control device 3 calculates I〓 2L from the following equation obtained by substituting equation (g) into equation (b).
I〓2L＝Ｍ＋l2／Ｍ・E〓2／ω・pωs0／r20……(h)
次に動作について説明する。V20演算器１０で
得られたV20とV2演算器９で得られたV2の差は(g)
式が満足されているときには生じない。しかし、
(g)式が満足されず例えばpωs0／r20＞pωs／r2であ
るとV20−V2＞０となるのでV20−V2を積分した
ものは負になる。これを単位信号発生器１２が発
生する単位信号「１」から引いたものを増幅器８
の出力であるpωs0に乗算器１３で乗じpωsとす
る。このpωsと速度増幅器６の出力のpωrを加算
し角周波数ωとし、制御装置３に入力する。制御
装置３はこの角周波数ωと増幅器８の出力である
pωs0を入力し、前述した方法でベクトル制御を
行なう。この結果としてV20とV2の差はなくな
り、積分器１１の積分値は一定に保たれ、r2の温
度変化を補償することになる。単位信号発生器１
２の出力である単位信号「１」と積分器１１の出
力との差はr2／r20を意味し、従つて積分器１１
の出力は１―r2／r20を意味することになる。 I〓 2L =M+l 2 /M・E〓 2 /ω・pω s0 /r 20 ...(h) Next, the operation will be explained. The difference between V 20 obtained by V 20 calculator 10 and V 2 obtained by V 2 calculator 9 is (g)
It does not occur when the formula is satisfied. but,
If equation (g) is not satisfied and, for example, pω s0 /r 20 >pω s /r 2 , then V 20 −V 2 >0, so the integral of V 20 −V 2 becomes negative. The amplifier 8 subtracts this from the unit signal "1" generated by the unit signal generator 12.
The output pω s0 is multiplied by the multiplier 13 and set as pω s . This pωs and pωr of the output of the speed amplifier 6 are added to obtain an angular frequency ω, which is input to the control device 3. The control device 3 is this angular frequency ω and the output of the amplifier 8.
Input pωs0 and perform vector control using the method described above. As a result, the difference between V 20 and V 2 disappears, and the integral value of the integrator 11 is kept constant, compensating for the temperature change in r 2 . Unit signal generator 1
The difference between the unit signal "1", which is the output of the integrator 11, and the output of the integrator 11 means r 2 /r 20 , and therefore the integrator 11
The output of will mean 1−r 2 /r 20 .
pωs0／r20＜pωs／r2の場合は積分器１１の出力
が正になり、前述と同様に２次抵抗r2の温度変化
を補償する。 When pω s0 /r 20 <pω s /r 2 , the output of the integrator 11 becomes positive and compensates for the temperature change in the secondary resistance r 2 as described above.
なお、上記実施例では電圧V2を２次抵抗r2の
温度変動を検出するために選んだが、電圧V2の
代りに相端子電圧V1、相互インダクタンス電圧
EM、電圧E2を選ぶこともできる。この場合はV2
演算器９あるいはV20演算器１０の構成が複雑に
なるが本質的な問題ではない。 In the above embodiment, the voltage V 2 was selected to detect the temperature fluctuation of the secondary resistance r 2 , but instead of the voltage V 2 , the phase terminal voltage V 1 , the mutual inductance voltage
You can also choose E M and voltage E 2 . In this case V 2
Although the configuration of the arithmetic unit 9 or the V20 arithmetic unit 10 becomes complicated, this is not an essential problem.
また、上記実施例ではベクトル制御として
E2／ωが一定である場合について説明した。誘
導電動機２の出力が定トルク特性の場合は、この
ような制御方式がよいが、定出力特性の場合は
E2／ωが角周波数ωによつて所定のパターンで
変化していき、pωs0とトルク分電流I2Lの関係が
比例関係でなく所定のパターンで変化し、また２
次磁束分電流I2Mも角周波数ωによつて変化させ
ていく必要があるが、それは制御装置３の内部で
実行されるので、第４図の構成が変わるものでは
ない。 In addition, in the above embodiment, as vector control
The case where E 2 /ω is constant has been explained. If the output of the induction motor 2 has constant torque characteristics, such a control method is preferable, but if the output has constant output characteristics,
E 2 /ω changes in a predetermined pattern depending on the angular frequency ω, the relationship between pω s0 and torque component current I 2L is not proportional but changes in a predetermined pattern, and 2
It is also necessary to change the secondary magnetic flux current I 2M according to the angular frequency ω, but since this is executed inside the control device 3, the configuration shown in FIG. 4 does not change.
この発明による誘導電動機の速度制御装置は、
誘導電動機２の回転速度を指令する回転速度指令
器４の指令値から誘導電動機２の回転速度を検出
する回転速度検出器５の検出値を減算する第１の
減算器１４と、誘導電動機２に入力されている電
圧値および電流値から、そのときの動作状態を示
す指標値としての誘導電動機２の所定個所の電圧
を算出する第１の演算器９と、交流電源１から誘
導電動機２に給電される電流の大きさおよび位相
を第１の減算器１４の出力値および加算器１５の
出力値に則して制御する制御装置３と、この制御
装置３に入力される上記第１の減算器１４の出力
値および上記加算器１５の出力値から上記第１の
演算器９で算出される指標値に対応する基準値を
算出する第２の演算器１０と、この第２の演算器
１０が算出する基準値から上記第１の演算器９が
算出する指標値を減算する第２の減算器１６と、
この第２の減算器１６の出力を積分する積分器１
１と、単位信号「１」を発生する単位信号発生器
１２と、上記単位信号「１」から上記積分器１１
の積分値を減算する第３の減算器１７と、第１の
減算器１４の出力値と第３の減算器１７の出力値
とを乗算する乗算器１３と、乗算器１３の出力値
と速度検出器５の検出値とを加算する加算器１５
とを備えた構成であるので、誘導電動機の２次抵
抗r2の温度変化に伴つてpωspωs／r2＝pωs0／r20
となるように変化させることによつて２次抵抗の
温度変化を補償し、常に１次電流I〓1、トルク分電
流I〓2L、２次磁束分電流I〓2M、トルクτについて(a)
〜(e)式を満足させて２次抵抗r2の温度変化にかか
わらず安定で応答のよい制御が得られる。 The speed control device for an induction motor according to this invention has the following features:
A first subtractor 14 that subtracts a detected value of a rotation speed detector 5 that detects the rotation speed of the induction motor 2 from a command value of a rotation speed command device 4 that commands the rotation speed of the induction motor 2; A first calculator 9 calculates the voltage at a predetermined point of the induction motor 2 as an index value indicating the operating state at that time from the input voltage value and current value, and the AC power supply 1 supplies power to the induction motor 2. a control device 3 that controls the magnitude and phase of the current in accordance with the output value of the first subtracter 14 and the output value of the adder 15; and the first subtractor inputted to the control device 3. a second arithmetic unit 10 that calculates a reference value corresponding to the index value calculated by the first arithmetic unit 9 from the output value of the adder 14 and the output value of the adder 15; a second subtractor 16 that subtracts the index value calculated by the first calculator 9 from the reference value to be calculated;
An integrator 1 that integrates the output of this second subtractor 16
1, a unit signal generator 12 that generates the unit signal "1", and the integrator 11 from the unit signal "1".
A third subtracter 17 that subtracts the integral value of , a multiplier 13 that multiplies the output value of the first subtracter 14 and the output value of the third subtracter 17 , and the output value of the multiplier 13 and the speed an adder 15 that adds the detected value of the detector 5;
Since the configuration has _ _
By changing it so that the temperature change of the secondary resistance is compensated for, the primary current I〓 1 , the torque component current I〓 2L , the secondary magnetic flux component current I〓 2M , and the torque τ (a)
By satisfying the equation (e), stable and responsive control can be obtained regardless of temperature changes in the secondary resistance r2 .
第１図は誘導電動機の等価回路、第２図は誘導
電動機のベクトル図、第３図は従来の誘導電動機
の速度制御装置のブロツク図、第４図はこの発明
の一実施例のブロツク図である。
図において、１は交流電源、２は誘導電動機、
３は制御装置、４は速度指令器、５は速度検出
器、６は速度増幅器、７は制限器、８は増幅器、
９はV2演算器、１０はV20演算器、１１は積分
器、１２は「１」発生器、１３は乗算器である。
なお、図中、同一符号はそれぞれ同一または相当
部分を示す。
Fig. 1 is an equivalent circuit of an induction motor, Fig. 2 is a vector diagram of an induction motor, Fig. 3 is a block diagram of a conventional speed control device for an induction motor, and Fig. 4 is a block diagram of an embodiment of the present invention. be. In the figure, 1 is an AC power supply, 2 is an induction motor,
3 is a control device, 4 is a speed command device, 5 is a speed detector, 6 is a speed amplifier, 7 is a limiter, 8 is an amplifier,
9 is a V 2 arithmetic unit, 10 is a V 20 arithmetic unit, 11 is an integrator, 12 is a “1” generator, and 13 is a multiplier.
In addition, in the figures, the same reference numerals indicate the same or corresponding parts.
Claims (1)
令器よりの指令値から、上記誘導電動機の回転速
度を検出する回転速度検出器よりの検出値を減算
する第１の減算器と、上記誘導電動機に入力され
た電圧値および電流値から、そのときの動作状態
を示す指標値としての上記誘導電動機の所定個所
の電圧を算出する第１の演算器と、上記第１の減
算器の出力値と下記加算器の出力値のうちの少な
くとも加算器の出力値を入力し、予め定められた
上記誘導電動機の等価回路の定数を使つて、上記
第１の演算器で算出される上記指標値に対応する
所定個所の基準値としての電圧を算出する第２の
演算器と、この第２の演算器が算出する基準値か
ら上記指標値を減算する第２の減算器と、単位信
号発生器が発生する単位信号から上記第２の減算
器の出力の積分値を減算する第３の減算器と、上
記第１の減算器の出力値と第３の減算器の出力値
とを乗算する乗算器と、この乗算器の出力値と上
記回転速度検出器の検出値とを加算する加算器
と、交流電源から上記誘導電動機に給電される電
流の大きさおよび位相を上記第１の減算器の出力
値および上記加算器の出力値に則して制御する制
御装置とを備えた誘導電動機の速度制御装置。1. A first subtractor that subtracts a detected value from a rotation speed detector that detects the rotation speed of the induction motor from a command value from a rotation speed command device that commands the rotation speed of the induction motor; A first arithmetic unit that calculates the voltage at a predetermined point of the induction motor as an index value indicating the operating state at that time from the input voltage value and current value, and the output value of the first subtractor and the following: inputting at least the output value of the adder among the output values of the adder, and using a predetermined constant of the equivalent circuit of the induction motor to correspond to the index value calculated by the first arithmetic unit; A second arithmetic unit that calculates a voltage as a reference value at a predetermined location, a second subtracter that subtracts the index value from the reference value calculated by the second arithmetic unit, and a unit signal generator are generated. a third subtracter that subtracts the integral value of the output of the second subtracter from the unit signal; a multiplier that multiplies the output value of the first subtracter and the output value of the third subtracter; an adder that adds the output value of the multiplier and the detected value of the rotation speed detector; and an adder that adds the output value of the multiplier and the detection value of the rotation speed detector; A speed control device for an induction motor, comprising a control device that performs control in accordance with the output value of the adder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP55178261A JPS57101588A (en) | 1980-12-16 | 1980-12-16 | Speed control device for induction motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP55178261A JPS57101588A (en) | 1980-12-16 | 1980-12-16 | Speed control device for induction motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57101588A JPS57101588A (en) | 1982-06-24 |
| JPH0136349B2 true JPH0136349B2 (en) | 1989-07-31 |
Family
ID=16045393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP55178261A Granted JPS57101588A (en) | 1980-12-16 | 1980-12-16 | Speed control device for induction motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57101588A (en) |
-
1980
- 1980-12-16 JP JP55178261A patent/JPS57101588A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57101588A (en) | 1982-06-24 |
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