JPH0433583A - Induction motor controller - Google Patents
Induction motor controllerInfo
- Publication number
- JPH0433583A JPH0433583A JP2137469A JP13746990A JPH0433583A JP H0433583 A JPH0433583 A JP H0433583A JP 2137469 A JP2137469 A JP 2137469A JP 13746990 A JP13746990 A JP 13746990A JP H0433583 A JPH0433583 A JP H0433583A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- operational amplifier
- primary current
- control system
- induction motor
- 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.)
- Pending
Links
- 230000006698 induction Effects 0.000 title claims abstract description 34
- 230000004907 flux Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001419 dependent effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、トランジスタインバータによって速度制御
される誘導電動機の制御装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for an induction motor whose speed is controlled by a transistor inverter.
第２図は、例えば三菱電機枝軸、 Ｖｏｌ、５８゜述４
゜１９８４ Ｐｄ２ ｆ鉄鋼プロセスラインの全交流化
駆動システム」、片山他に示された従来の誘導電動機の
制御装置を示す構成図であシ、図において、１は直流電
源、２は直流電力を交流電力に変換するインバータ主回
路、３は可変電圧可変周波数装置主回路、４は制御され
る誘導電動機、５は誘導電動機４の負荷となるロール、
６は誘導電動機４に結合された速度検出器、γは後述の
速度基準発生回路１４から出力される速度基準信号Ｗｍ
と速度検出器６から出力される速度帰還信号Ｗｍと
を比較する比較演算増幅器、８は前記比較演算増幅器γ
の出力信号■ｔと、速度帰還信号Ｗｍと、磁束分電流基
準信号■。とよシ誘導電動機４の一次電流基準を発生す
る一次電流基準発生回路、９は電流基準信号１Ｆと電流
基準信号工、とを比較する演算増幅器、１０はＶ相電流
基準を演算する加算器、１１はＶ＠電流帰還を演算する
加算器、１２はトランジスタの制御信号を発生するベー
スドライブ制御回路、１３は誘導電動機の制御装置、１
４は速度基準発生回路、１５は磁束分電流基準発生回路
である。Figure 2 shows, for example, the Mitsubishi Electric branch shaft, Vol. 58° 4
゜1984 Pd2f Full AC drive system for steel process line'' This is a block diagram showing the conventional induction motor control device shown in Katayama et al. In the figure, 1 is a DC power source, 2 is a DC power source that converts DC power into an AC drive system. An inverter main circuit that converts into electric power, 3 a variable voltage variable frequency device main circuit, 4 an induction motor to be controlled, 5 a roll serving as a load of the induction motor 4,
6 is a speed detector coupled to the induction motor 4, and γ is a speed reference signal Wm output from a speed reference generation circuit 14, which will be described later.
and a speed feedback signal Wm output from the speed detector 6, and 8 is the comparison operational amplifier γ.
output signal ■t, speed feedback signal Wm, and magnetic flux current reference signal ■. a primary current reference generation circuit that generates a primary current reference for the Toyoshi induction motor 4; 9 an operational amplifier that compares the current reference signal 1F with a current reference signal; 10 an adder that calculates a V-phase current reference; 11 is an adder that calculates V@current feedback, 12 is a base drive control circuit that generates a transistor control signal, 13 is an induction motor control device, 1
4 is a speed reference generation circuit, and 15 is a magnetic flux current reference generation circuit.
次に動作について説明する。まず、誘導電動機４の速度
制御を行う場合には、速度基準発生回路１４から速度基
準信号Ｗｒｎ”を発生させ、速度帰還信号Ｗｍとの速度
偏差を比較演算増幅器７で増幅しそれを二次電流基準信
号工ｔとする。この時の比較演算増幅器７の増幅率は、
所定の速度応答が得られるように、誘導電動機４及びロ
ール５のはずみ車効果（ＧＤ２）等によシ決める。この
二次電流基準信号■−と磁束分電流基準信号Ｉ。と速度
帰還信号Ｗｍとより一次電流基準信号■ごを一次電流基
準発生回路８によって演算し発生させる。この一次電流
基準信号■１ と一次電流帰還信号工、との偏差を演
算増幅器９で増幅し、インバータ主回路２の駆動を制御
するベースドライブ制御回路１２に与える。このベース
ドライブ制御回路１２によｐインバータ主回路２に発生
する電圧を制御して、誘導電動機４の速度制御を行う。Next, the operation will be explained. First, when controlling the speed of the induction motor 4, the speed reference signal Wrn'' is generated from the speed reference generation circuit 14, the speed deviation from the speed feedback signal Wm is amplified by the comparison operational amplifier 7, and the secondary current is Let the reference signal be t.The amplification factor of the comparison operational amplifier 7 at this time is
The flywheel effect (GD2) of the induction motor 4 and roll 5 is determined so that a predetermined speed response can be obtained. This secondary current reference signal - and the magnetic flux current reference signal I. , the speed feedback signal Wm, and the primary current reference signal (2) are calculated and generated by the primary current reference generation circuit 8. The deviation between this primary current reference signal (1) and the primary current feedback signal is amplified by an operational amplifier 9 and is applied to a base drive control circuit 12 that controls the drive of the inverter main circuit 2. The base drive control circuit 12 controls the voltage generated in the p-inverter main circuit 2 to control the speed of the induction motor 4.
従来の誘導電動機の制御装置は、以上のように構成され
ているので、例えば、ギヤのバソクラッシー等の関係で
、トータルとしての負荷（誘導電動機４及びロール５）
のＧＤ”が変化（誘導電動機のＧＤ”は誘導電動機のＧ
Ｄ２＋ロールのＧＤ”）した場合、速度応答が変化し、
誘導電動機４側に速度検出器６が付いている為に、速度
変化率が大きくなシ、これが外乱の原因とな多制御系が
不安定となるなどの課題があった。Since the conventional induction motor control device is configured as described above, the total load (induction motor 4 and roll 5) is
GD” of the induction motor changes (the GD of the induction motor is the G of the induction motor)
D2 + roll GD”), the speed response changes,
Since the speed detector 6 is attached to the induction motor 4 side, there are problems such as a large speed change rate, which causes disturbances and makes the multi-control system unstable.
この発明は上記のような課題を解消するためになされた
もので、負荷のＧＤ２の変化による速度外乱を生じた時
には速度検出信号から速度検出信号の制御系に切換える
ように回路構成することによって、速度変動外乱を防止
し、安定した制御系を構成することができる誘導電動機
の制御装置を得ることを目的とする。This invention was made in order to solve the above-mentioned problems, and by configuring the circuit so that when a speed disturbance occurs due to a change in GD2 of the load, the control system is switched from the speed detection signal to the speed detection signal control system. An object of the present invention is to obtain a control device for an induction motor that can prevent speed fluctuation disturbances and configure a stable control system.
この発明に係る誘導電動機の制御装置は、誘導電動機の
入力電流及び入力電圧より速度演算を実行する模擬速度
検出器と、その模擬速度検出器の出力及び速度基準発生
回路の出力よＣトルク分電流を算出するトルク分電流演
算増幅器と、そのトルク分電流演算増幅器の出力及び磁
束分電流基準信号より一次電流基準を算出する一次電流
基準演算増幅器と、前記速度帰還信号が急変すると従来
の一次電流基準発生回路の出力から一次電流基準演算増
幅器の出力に切換えてインバータの主回路を制御する一
次電流切換演算増幅器とを備えて構成したものである。The control device for an induction motor according to the present invention includes a simulated speed detector that performs speed calculation from an input current and an input voltage of the induction motor, and a current corresponding to C torque between the output of the simulated speed detector and the output of a speed reference generation circuit. A primary current reference operational amplifier calculates a primary current reference from the output of the torque current operational amplifier and a magnetic flux current reference signal, and a primary current reference operational amplifier that calculates a primary current reference from the output of the torque current operational amplifier and a magnetic flux current reference signal. The primary current switching operational amplifier controls the main circuit of the inverter by switching from the output of the generation circuit to the output of the primary current reference operational amplifier.
この発明における交流電動機の制御装置は、負荷のＧＤ
２の変化による速度制御系の不安定現象に対して、従来
の制御方法である速度検出による帰還制御から速度検出
信号に依存しない電圧・周波数制御に切換えることで、
速度外乱によって生ずる制御系の不安定現象を除去し、
交流電動機の安定した制御特性を得る。The AC motor control device in this invention has a load GD
In response to the unstable phenomenon of the speed control system due to changes in speed 2, by switching from the conventional control method, feedback control using speed detection, to voltage/frequency control that does not depend on the speed detection signal.
Eliminates unstable phenomena in the control system caused by speed disturbances,
Obtain stable control characteristics of an AC motor.
以下、この発明の一実施例を図について説明する。 An embodiment of the present invention will be described below with reference to the drawings.
図中、第２図と同一の部分は同一の符号をもって図示し
た第１図において、１６は比較演算増幅器γの出力信号
Ｉ２′と磁束分電流基準信号工。とより一次電流基準信
号■ごを発生するための演算増幅器、１γは誘導電動機
４の入力電流工と入力電圧Ｖとよシ誘導電動機４の速度
を演算するための模擬速度検出器、１８は模擬速度検出
器１Ｔの出来
力Ｗｍ、と速度基準発生回路１４の出力Ｗｍ とよシト
ルク分電流工、−を算出するトルク分電流演算増幅器、
１９はトルク分電流演算増幅器１８の出力■コと磁束分
電流基準発生回路１５の出力■。とよシ誘導電動機４の
一次電流基準工、−を算出する一次電流基準演算増幅器
、２０は速度検出器６の出力Ｗｍが急変した場合に、演
算増幅器１６の出力米
■１ から一次電流基準演算増幅器１９の出力１１０
’に切換えて制御するための一次電流切換演算増幅器、
２１は誘導電動機の制御装置である。In FIG. 1, the same parts as in FIG. 2 are indicated by the same reference numerals. In FIG. 1, reference numeral 16 denotes the output signal I2' of the comparison operational amplifier γ and the magnetic flux current reference signal. and an operational amplifier for generating the primary current reference signal, 1γ a simulated speed detector for calculating the input current and input voltage V of the induction motor 4, and the speed of the induction motor 4. 18 a simulated a torque component current operational amplifier that calculates the output Wm of the speed detector 1T and the output Wm of the speed reference generation circuit 14;
Reference numerals 19 indicate the output of the torque current operational amplifier 18 and the output of the magnetic flux current reference generation circuit 15. A primary current reference operational amplifier 20 calculates the primary current reference value (-) of the induction motor 4, and 20 calculates the primary current reference value from the output Wm of the operational amplifier 16 when the output Wm of the speed detector 6 suddenly changes. Output 110 of amplifier 19
'Primary current switching operational amplifier for switching and controlling
21 is a control device for the induction motor.
次に、この発明の動作について説明する。まず誘導電動
機４の速度制御を行う場合の動作は、従来の制御装置と
同一である。しかし、速度検出器６の出力Ｗｍが急変し
た場合には、Ｖ／ｆ （速度・周波数）制御系（模擬速
度検出器１７．演算増幅器１８．１９に切換えて制御す
る点が異なる。Next, the operation of this invention will be explained. First, the operation when controlling the speed of the induction motor 4 is the same as that of a conventional control device. However, the difference is that when the output Wm of the speed detector 6 suddenly changes, control is performed by switching to the V/f (speed/frequency) control system (simulated speed detector 17, operational amplifier 18, 19).
例えば、機械系にギヤを含んでいる場合、誘導電動機４
のＧＤ’とロール５のＧＤ２との比が、１：６０程度あ
るとすると、−設面にはギヤのパラクジラシュ及び軸の
ねじれ等によシ、速度応答Ｗｅが１＝６０変化する。こ
の為に、速度変化率が急速に大きくなるため、速度基準
信号Ｗ♂に対して速度がオーバーシーートし、速度制御
系（トルク分電流演算増幅器１８．一次電流基準演算増
幅器１９）の安定性を失う結果となる。For example, if the mechanical system includes gears, the induction motor 4
Assuming that the ratio of GD' of the roll 5 to GD2 of the roll 5 is about 1:60, the speed response We changes by 1=60 due to the parachute of the gear and the torsion of the shaft. For this reason, the speed change rate increases rapidly, causing the speed to over-sheet the speed reference signal W♂, which reduces the stability of the speed control system (torque component current operational amplifier 18, primary current reference operational amplifier 19). This results in the loss of .
そこで、実速度の変化量が一定値を越えると速度制御系
より Ｖ／ｆ制御系に一次電流切換演算増幅器２０で切
換えることで、速度外乱による制御系のハンチングを抑
制している。Therefore, when the amount of change in actual speed exceeds a certain value, hunting in the control system due to speed disturbance is suppressed by switching from the speed control system to the V/f control system using the primary current switching operational amplifier 20.
ここで用いるＶ／ｆ制御は、速度検出信号で速度制御す
るものであるが、二次電流基準信号工ごの制御の影響を
ゆるくしている制御方式を取っている。The V/f control used here performs speed control using a speed detection signal, but uses a control method that reduces the influence of secondary current reference signal control.
また、上記実施例では、トランジスタ主回路の場合につ
いて説明したが、他の主回路用電気スイッチでもよく、
上記実施例と同様の効果を奏する。Further, in the above embodiment, the case of a transistor main circuit was explained, but other main circuit electric switches may also be used.
The same effects as in the above embodiment are achieved.
以上のようにこの発明によれば、負荷のＧＤ”の変化に
よる速度制御系の不安定現象に対して、従来の速度検出
信号による帰還制御の他に、更に実速度の変化が一定値
よシ犬きくな・ると速度検出信号に依存しない電圧・周
波数制御方法に切換えて運転するようにしたので、速度
外乱によって生ずる制御系の不安定現象が除去され、安
定した誘導電動機の負荷運転が行える効果がある。As described above, according to the present invention, in order to deal with the unstable phenomenon of the speed control system due to changes in the load GD, in addition to feedback control using the conventional speed detection signal, changes in the actual speed can be controlled to a constant value. When the motor is turned off, the motor switches to a voltage/frequency control method that does not depend on the speed detection signal, which eliminates instability in the control system caused by speed disturbances, allowing stable induction motor load operation. effective.
第１図はこの発明の一実施例による誘導電動機の制御装
置の構成を示すブロック図、第２図は従来の誘導電動機
の制御装置を示すブロック図である。
図において、２はインバータ主回路、４は誘導電動機、
６は速度検出器、７は比較演算増幅器、８は一次電流基
準発生回路、１４は速度基準発生回路、１７は模擬速度
検出器、１８はトルク分電流演算増副器、１９は一次電
流基準演算増幅器、２０は一次電流切換演算増幅器であ
る。
なお、図中、同一符号は同一、又は相当部分を示す。
特許出願人 三菱電機株式会社
代理人 弁理士 １） 澤 博 昭（外２名）FIG. 1 is a block diagram showing the configuration of an induction motor control device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional induction motor control device. In the figure, 2 is the inverter main circuit, 4 is the induction motor,
6 is a speed detector, 7 is a comparison operational amplifier, 8 is a primary current reference generation circuit, 14 is a speed reference generation circuit, 17 is a simulated speed detector, 18 is a torque component current calculation amplifier, 19 is a primary current reference calculation Amplifier 20 is a primary current switching operational amplifier. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Patent applicant Mitsubishi Electric Corporation Representative Patent attorney 1) Hiroshi Sawa (2 others)
Claims (1)
検出器から出力される速度帰還信号を比較する比較演算
増幅器と、前記比較演算増幅器の出力信号、前記速度帰
還信号及び磁束分電流基準信号より誘導電動機の一次電
流基準を発生する一次電流基準発生回路と、前記一次電
流基準及び前記速度帰還信号を比較増幅してインバータ
主回路を制御する誘導電動機の制御装置において、前記
誘導電動機の入力電流及び入力電圧より速度演算を行う
模擬速度検出器と、前記模擬速度検出器の出力及び速度
基準発生回路の出力よりトルク分電流を算出するトルク
分電流演算増幅器と、前記トルク分電流演算増幅器の出
力及び磁束分電流基準信号より一次電流基準を算出する
一次電流基準演算増幅器と、前記速度帰還信号が急変す
ると前記一次電流基準発生回路の出力から一次電流基準
演算増幅器の出力に切換えてインバータ主回路を制御す
る一次電流切換演算増幅器とを備えた誘導電動機の制御
装置。a comparison operational amplifier that compares the speed reference signal output from the speed reference generation circuit and the speed feedback signal output from the speed detector; In an induction motor control device that controls an inverter main circuit by comparing and amplifying a primary current reference generation circuit that generates a primary current reference of the motor, and the primary current reference and the speed feedback signal, the input current of the induction motor and the input A simulated speed detector that calculates speed from voltage, a torque component current operational amplifier that calculates a torque component current from the output of the simulated speed detector and the output of the speed reference generation circuit, and the output and magnetic flux of the torque component current operational amplifier. A primary current reference operational amplifier calculates a primary current reference from a divided current reference signal, and when the speed feedback signal suddenly changes, the output of the primary current reference generation circuit is switched to the output of the primary current reference operational amplifier to control the inverter main circuit. A control device for an induction motor equipped with a primary current switching operational amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2137469A JPH0433583A (en) | 1990-05-28 | 1990-05-28 | Induction motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2137469A JPH0433583A (en) | 1990-05-28 | 1990-05-28 | Induction motor controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0433583A true JPH0433583A (en) | 1992-02-04 |
Family
ID=15199334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2137469A Pending JPH0433583A (en) | 1990-05-28 | 1990-05-28 | Induction motor controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0433583A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7607587B2 (en) | 2005-09-16 | 2009-10-27 | Murata Manufacturing Co., Ltd. | Card device |
| US9143052B2 (en) | 2012-05-17 | 2015-09-22 | Fuji Electric Co., Ltd. | Three-level unit inverter system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60249889A (en) * | 1984-05-21 | 1985-12-10 | Mitsubishi Electric Corp | Speed controller of motor |
| JPH01198292A (en) * | 1988-02-01 | 1989-08-09 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
-
1990
- 1990-05-28 JP JP2137469A patent/JPH0433583A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60249889A (en) * | 1984-05-21 | 1985-12-10 | Mitsubishi Electric Corp | Speed controller of motor |
| JPH01198292A (en) * | 1988-02-01 | 1989-08-09 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7607587B2 (en) | 2005-09-16 | 2009-10-27 | Murata Manufacturing Co., Ltd. | Card device |
| US9143052B2 (en) | 2012-05-17 | 2015-09-22 | Fuji Electric Co., Ltd. | Three-level unit inverter system |
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