JPH10164900A - Induction motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure the safety of a system by correcting a primary resistance value of a motor to be used in a voltage system magnetic flux calculator, using a vector product of a current vector which is the output of a current detector and a magnetic flux error vector which is the output of an error vector calculator. SOLUTION: A current system magnetic flux calculator 8 calculates a magnetic flux vector of a motor 4 from a rotating speed μm which is the output of a speed calculator 7 and a current vector i1 which is the output of a current detector 2. An error vector calculator 11 calculates a differential vector between a current system magnetic flux vector ϕ2i which is the output of the current system magnetic flux calculator 8 and a voltage system magnetic flux vector Ψ2v which is the output of a voltage system magnetic flux calculator 6. A vector product calculator 12 calculates a vector product of the current vector i1 which is the output of the current detector 2 and a magnetic flux error vector ΔΨ2 which is the output of the error vector calculator 11. An error amplifier 13 amplifies Er which is the output of the vector product calculator 12. A primary resistance corrector 14 corrects a primary resistance value of the motor 4 to be used in the voltage magnetic flux calculator 6, using GR1 which is the output of the error amplifier 13.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for driving an induction motor by an inverter, and more particularly to a device for suppressing a characteristic change due to a temperature change.

[0002]

2. Description of the Related Art FIG. 2 shows a conventional control block of a control device for an induction motor for controlling the torque and speed of the induction motor with high accuracy and high speed without attaching a speed detector to the induction motor. Will be described. The inverter 1 receives the switching signal of the output of the torque flux controller 5 and
The inverter is operated according to the switching signal. The output of the inverter 1 is a current detector 2 or a voltage detector 3
Is connected to the electric motor 4 through the inverter 1 and a voltage can be applied to the electric motor 4 by the inverter 1.

The voltage-based magnetic flux calculator 6 receives the current vector i1 and the voltage vector v1 from the detectors 2 and 3, and also receives the current-based magnetic flux vector ψ2i output from the current-based magnetic flux calculator 8 to supply the voltage to the voltage system. The magnetic flux vector ψ2v is calculated from equation (1).

[0004]

(Equation 1)

Here, L1 is a primary self inductance,
L2 is a secondary self-inductance, M is a mutual inductance, and K is a drift compensation gain. R1 is a primary resistance and uses a fixed value R1n. The second term in the integral is added to suppress the integral drift, and is an originally unnecessary term. The speed calculator 7 calculates the rotation speed ωm from the voltage system magnetic flux vector ψ2v and the current vector i1 according to the equation (2).

[0006]

(Equation 2)

Here, ω is the rotational angular velocity of ψ2v, and R
2 is a secondary resistance. The current-system magnetic flux calculator 8 calculates the current-system magnetic flux vector ψ2i by Expression (3).

[0008]

(Equation 3)

The torque calculator 9 calculates the torque T from the current system magnetic flux vector ψ2i and the current vector i1, and outputs the calculated torque T to the torque magnetic flux controller 5. The torque flux controller 5 also inputs a torque command T *, a flux command φ *, and a flux ψ2i, and outputs a switching signal to the inverter 1 so that the torque and the flux follow the commands. The speed controller 10 inputs the speed command ωm * and the calculated speed ωm,
A torque command is output such that the speed follows the command.

[0010]

In the above-mentioned prior art,
The primary resistance R1 is used for calculating the voltage flux vector. This R1 fluctuates according to the temperature of the electric motor. R1 fluctuates due to the temperature fluctuation, so that an error is included in the voltage-based magnetic flux vector ψ2v, so that the speed and the torque also include an error. Become. Also, the stability of the system will be threatened. The present invention has been made in view of the above points, and an object of the present invention is to provide an induction motor control device that solves these drawbacks.

[0011]

That is, means for achieving the object are voltage detecting means for detecting or estimating a supply voltage to an induction motor and converting it into a vector, and detecting input current of the motor. Current detecting means for converting a voltage vector output from the voltage detecting means and a current vector output from the current detecting means to calculate a magnetic flux vector of the electric motor; Speed calculating means for calculating the rotation speed of the motor from a voltage system magnetic flux vector output from the system magnetic flux calculating means and a current vector output from the current detecting means; and a rotational speed between the output of the speed calculating means and the current detecting means. A current system magnetic flux calculating means for calculating a magnetic flux vector of the electric motor from an output current vector; a current system magnetic flux vector and a voltage system magnetic flux output from the current system magnetic flux calculating means; Error vector calculating means for calculating a difference vector between the voltage system magnetic flux vector output from the calculating means, and an outer product of a current vector output from the current detecting means and a magnetic flux error vector output from the error vector calculating means. It comprises an outer product calculating means, an error amplifying means for amplifying an output of the outer product calculating means, and a primary resistance correcting means for correcting a primary resistance value of the electric motor used for the voltage-based magnetic flux calculating means from the output of the error amplifying means. ing.

The following describes the reason why the means for solving the above problem can solve the above problem. FIG. 3 shows the relationship between the respective vectors when the motor is outputting the powering torque in the forward rotation. If the voltage-based magnetic flux vector ψ2v exists on the same side as the current vector i1 with respect to the one-dot chain line a passing through the current-system magnetic flux vector ψ2i and parallel to the current vector i1, the output of the error vector calculation means is expressed by equation (4).

[0013]

(Equation 4)

Since the phase lags behind the current vector i1, the output of the outer product calculating means is expressed by equation (5).

[0015]

(Equation 5)

Er <0. Conversely, if the voltage-based magnetic flux vector ψ2v exists on the opposite side of the one-dot chain line a from the current vector i1, Er> 0. When the primary resistance R1 is changed, the vector E moves on a broken line b passing through the voltage vector v1. The voltage drop due to the primary resistor R1 is represented by a voltage vector v
Since the voltage-based magnetic flux vector ψ2v, which is the integral of the vector E subtracted from 1, is orthogonal to the vector E, when the primary resistance R1 is changed, it moves on the two-dot chain line c orthogonal to the current vector i1. If the current system magnetic flux vector ψ2i and the voltage system magnetic flux vector ｖ2v do not match due to an error in the primary resistance R1, the dash-dot line a and the dash-dot line c are adjusted by adjusting the primary resistance R1 so that Er = 0.
The voltage-based magnetic flux vector と 2v can be moved to the intersection with と, and at this time, the voltage-based magnetic flux vector 電流 2v and the current-based magnetic flux vector ψ2i should match, and the primary resistance R1 at that time has a correct value. That is, when Er <0, the primary resistance R1 is reduced, and when Er> 0, the primary resistance R1 is reduced.
Is increased, the primary resistance R1 is adjusted to a correct value, and the voltage system magnetic flux vector ψ2v and the current system magnetic flux vector ψ2i
Will match. Therefore, the error amplifying means uses, for example, a proportional-integral element

[0017]

(Equation 6)

The error Er is amplified by using the following formula (7) by the primary resistance correcting means.

[0019]

(Equation 7)

As described above, the primary resistance can be corrected. Thereby, the primary resistance R1 can be adjusted so that the output Er of the outer product calculation means becomes zero. Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0021]

FIG. 1 is a block diagram showing an embodiment of the present invention, in which the same reference numerals as in FIG. 2 denote portions having the same configuration functions. In FIG. 1, a voltage-based magnetic flux calculator 6 as a voltage-based magnetic flux calculator inputs a current vector i1 and a voltage vector v1 from a current detector 2 as a current detector and a voltage detector 3 as a voltage detector. The current system magnetic flux vector ψ2i output from the current system magnetic flux calculator 8 as the current system magnetic flux calculator is also input, and the voltage system magnetic flux vector ψ2v is calculated from the equation (1). As the primary resistance value used in the voltage-based magnetic flux calculator 6, the output of the primary resistance corrector 14, which is primary resistance correcting means, is used. The speed calculator 7 as the speed calculating means obtains the rotational speed ωm from the equation (2) from the voltage-based magnetic flux vector ψ2v and the current vector i1.

The current-system magnetic flux calculator 8 calculates the current-system magnetic flux vector ψ2i by the equation (3). In the torque calculator 9,
The torque T is calculated from the current system magnetic flux vector ψ2i and the current vector i1 and output to the torque magnetic flux controller 5. The torque flux controller 5 additionally includes a torque command T * and a flux command φ.
* And the magnetic flux ψ2i, and outputs a switching signal to the inverter 1 such that the torque and the magnetic flux follow those commands. The speed controller 10 inputs the speed command ωm * and the calculated speed ωm, and outputs a torque command such that the speed follows the command. The error vector calculator 11 as the error vector calculator performs the calculation of the equation (4) and outputs Δψ2. The outer product calculator 12 serving as the outer product calculating means calculates the outer product of the magnetic flux error vector Δψ2 output from the error vector calculator 11 and the current vector i1 by using equation (5), and outputs Er. The error amplifier 13 as the error amplifying means converts Er into (6)
GR1 is output after performing proportional-integral amplification as shown in the equation. The primary resistance corrector 14 outputs R1 obtained by correcting the primary resistance set value R1n to the voltage-based magnetic flux calculator 6 as in the equation (7).

[0023]

As described above, according to the present invention, the primary resistance R1 used for calculating the voltage-based magnetic flux vector can be correctly and automatically adjusted. Accordingly, the primary resistance R1 used for calculating the voltage system magnetic flux vector can be changed accordingly. Therefore, speed and torque control errors due to fluctuations in R1 due to temperature fluctuations are eliminated, and system stability is also ensured.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an embodiment of an induction motor control device according to the present invention.

FIG. 2 is a block diagram showing an embodiment of a conventional induction motor control device.

FIG. 3 is a vector relation diagram.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inverter 2 Current detector 3 Voltage detector 4 Induction motor 5 Torque magnetic flux controller 6 Voltage system magnetic flux calculator 7 Speed calculator 8 Current system magnetic flux calculator 9 Torque calculator 10 Speed controller 11 Error vector calculator 12 Outer product calculation Unit 13 Error amplifier 14 Primary resistance corrector

Claims (2)

[Claims] 1. An induction motor control device for supplying electric power to an induction motor to control a rotation speed and an output torque of the induction motor, wherein voltage detection means detects or estimates a supply voltage to the induction motor and converts it into a vector. A current detecting means for detecting an input current of the motor and converting it into a vector; a voltage vector of an output of the voltage detecting means and a current vector of an output of the current detecting means being inputted to calculate a magnetic flux vector of the motor A voltage-based magnetic flux calculating means, a speed calculating means for calculating a rotation speed of the motor from a voltage-based magnetic flux vector output from the voltage-based magnetic flux calculating means and a current vector output from the current detecting means; A current system magnetic flux calculator for calculating a magnetic flux vector of the motor from an output rotation speed and a current vector output from the current detector; Error vector calculating means for calculating a difference vector between a current-based magnetic flux vector output from the stage and a voltage-based magnetic flux vector output from the voltage-based magnetic flux calculating means; a current vector output from the current detecting means and the error vector calculating means; Product calculating means for calculating the cross product of the output of the motor and the magnetic flux error vector, error amplifying means for amplifying the output of the cross product calculating means, and the primary of the motor used for the voltage-based magnetic flux calculating means based on the output of the error amplifying means. An induction motor control device comprising primary resistance correction means for correcting a resistance value. 2. The induction motor control device according to claim 1, wherein a proportional-integral amplifier is used as the error amplifier.