JPH1141999A - Induction motor controller - Google Patents
Induction motor controllerInfo
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- JPH1141999A JPH1141999A JP9205387A JP20538797A JPH1141999A JP H1141999 A JPH1141999 A JP H1141999A JP 9205387 A JP9205387 A JP 9205387A JP 20538797 A JP20538797 A JP 20538797A JP H1141999 A JPH1141999 A JP H1141999A
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- induction motor
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- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は電圧形インバータに
より誘導電動機を駆動するもので，特に誘導電動機の一
次側抵抗Ｒ１と二次側の抵抗Ｒ２の変動による特性変化
を抑制する誘導電動機制御装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an induction motor driven by a voltage type inverter, and more particularly to an induction motor control device for suppressing a characteristic change due to a change in a primary resistance R1 and a secondary resistance R2 of the induction motor. Things.
【０００２】[0002]
【従来の技術】誘導電動機の回転速度検出器を付けない
で誘導電動機のトルクと回転速度を高精度高速に制御す
る誘導電動機の制御装置の従来の制御ブロックを図２に
示し，以下，図２に従って従来の技術を説明する。図２
において，１はモータ，２はインバータ，３と４は電
圧，電流検出器である。５は３相固定子座標系（ｕ，
ｖ，ｗ）から２相固定子座標系（α，β）への座標変換
器である。６は一次側磁束ベクトル演算器，７は二次側
磁束ベクトル演算器，８はトルク演算器，９は誘導電動
機の回転速度演算器，１０は速度ＰＩ制御器である。１
１は一次側磁束の目標値に対する偏差を判断するための
２値のヒステリシスコンパレータ，１２はトルクの目標
値に対する偏差を判断するための３値のヒステリシスコ
ンパレータである。１３は磁束ベクトルが存在するベク
トル領域を判断するものである。１４は１１，１２，１
３の出力により決めるスイッチングテーブルである。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 the rotation speed of the induction motor with high accuracy and high speed without attaching a rotation speed detector of the induction motor. According to the prior art. FIG.
In the figure, 1 is a motor, 2 is an inverter, and 3 and 4 are voltage and current detectors. 5 is a three-phase stator coordinate system (u,
v, w) to a two-phase stator coordinate system (α, β). Reference numeral 6 denotes a primary magnetic flux vector calculator, 7 denotes a secondary magnetic flux vector calculator, 8 denotes a torque calculator, 9 denotes a rotation speed calculator of an induction motor, and 10 denotes a speed PI controller. 1
1 is a binary hysteresis comparator for judging the deviation of the primary magnetic flux from the target value, and 12 is a ternary hysteresis comparator for judging the deviation of the torque from the target value. Reference numeral 13 determines a vector area where a magnetic flux vector exists. 14 is 11, 12, 1
3 is a switching table determined by the output of No. 3.
【０００３】外部から与えられる磁束指令｜φ＊１｜及
びトルク指令Ｔ＊に対し制御回路内部で演算された磁
束，トルクとの偏差をそれぞれヒステリシスコンパレー
タに加え，この偏差が所定のヒステリシス偏差内に保た
れるようにインバータの出力電圧の瞬時制御を行い，通
電信号を発生させる。A deviation from the magnetic flux and torque calculated inside the control circuit with respect to a magnetic flux command | φ * 1 | and a torque command T * given from the outside is added to a hysteresis comparator, and the deviation is set within a predetermined hysteresis deviation. Instantaneous control of the output voltage of the inverter is performed to maintain the voltage, and a conduction signal is generated.
【０００４】座標変換器５の出力の誘導電動機の一次側
電圧Ｖ１，電流ｉ１から誘導電動機の一次側磁束φ１は
（１）式により演算する。ただし，Ｒ１は誘導電動機の
一次側抵抗である。The primary magnetic flux φ1 of the induction motor is calculated from the primary voltage V1 and current i1 of the induction motor output from the coordinate converter 5 according to equation (1). Here, R1 is the primary resistance of the induction motor.
【０００５】[0005]
【数１】 (Equation 1)
【０００６】一次側磁束演算器６の出力の一次側磁束φ
１と５の座標変換器の出力の一次側電流ｉ１から，誘導
電動機の二次側磁束φ２は（２）式により演算する。た
だし，Ｌ１，Ｌ２は誘導電動機の一次側，二次側の自己
インダクタンスであり，Ｍは一次巻き線と二次巻き線間
の相互インダクタンスである。The primary magnetic flux φ output from the primary magnetic flux calculator 6
From the primary current i1 output from the coordinate converters 1 and 5, the secondary magnetic flux φ2 of the induction motor is calculated by equation (2). Here, L1 and L2 are self-inductances on the primary and secondary sides of the induction motor, and M is a mutual inductance between the primary winding and the secondary winding.
【０００７】[0007]
【数２】 (Equation 2)
【０００８】一次側磁束演算器６の出力の一次側磁束φ
１と５の座標変換器の出力の一次側電流ｉ１から，誘導
電動機のトルクＴは（３）式により演算する。The primary magnetic flux φ output from the primary magnetic flux calculator 6
From the primary current i1 output from the coordinate converters 1 and 5, the torque T of the induction motor is calculated by equation (3).
【０００９】[0009]
【数３】 (Equation 3)
【００１０】二次側磁束演算器７の出力の二次側磁束φ
２とトルク演算器８の出力の誘導電動機のトルクＴか
ら，誘導電動機の回転速度ωｍは（４）式により演算す
る。ただし，φ２α，φ２βは二相座標変換後のα軸分
量とβ軸分量である。The secondary magnetic flux φ of the output of the secondary magnetic flux calculator 7
2 and the torque T of the induction motor output from the torque calculator 8, the rotation speed ωm of the induction motor is calculated by the equation (4). Here, φ2α and φ2β are the α-axis component and the β-axis component after the two-phase coordinate conversion.
【００１１】[0011]
【数４】 (Equation 4)
【００１２】誘導電動機の回転速度演算器９の出力ωｍ
から速度指令値との偏差をとって，速度制御器１０から
トルクの指令を生成する。更に，一次側磁束指令φ＊１
と一次側磁束演算器６の出力の一次側磁束の演算値φ１
との偏差，速度制御器１０の出力のトルク指令Ｔ＊とト
ルク演算器８の出力のトルクの演算値Ｔとの偏差，及び
出力の一次側磁束６の演算値φ１をそれぞれ１１，１
２，１３に入力する。スイッチングテーブル１４は１
１，１２，１３の出力によって一次電圧ベクトルを決定
してインバータの制御を行う。このように磁束，回転速
度推定演算などの各ブロックを基本トルク制御システム
ブロックに追加し速度センサレス速度制御系を構成して
いる。Output ωm of rotational speed calculator 9 of the induction motor
The torque controller 10 generates a torque command from the speed controller 10 by calculating a deviation from the speed command value. In addition, the primary magnetic flux command φ * 1
And the calculated value φ1 of the primary magnetic flux output from the primary magnetic flux calculator 6
, The deviation between the torque command T * of the output of the speed controller 10 and the calculated value T of the torque of the output of the torque calculator 8, and the calculated value φ1 of the primary magnetic flux 6 of the output are 11, 1
Input to 2 and 13. Switching table 14 is 1
The inverters are controlled by determining the primary voltage vector based on the outputs of 1, 12, and 13. As described above, the respective blocks for the calculation of the magnetic flux and the rotation speed estimation are added to the basic torque control system block to constitute a speed sensorless speed control system.
【００１３】[0013]
【発明が解決しようとする課題】上述の従来技術では，
誘導電動機回転速度の演算に二次抵抗Ｒ２を用いてい
る。このＲ２は電動機の温度によって変動するもので，
温度変動によりＲ２が変動し，それにより回転速度演算
の誤差が生じるようになる。In the above-mentioned prior art,
The secondary resistance R2 is used for calculating the induction motor rotation speed. This R2 varies depending on the temperature of the motor,
R2 fluctuates due to temperature fluctuations, thereby causing an error in the rotation speed calculation.
【００１４】上述の従来技術では，一磁側磁束ベクトル
の演算に一次抵抗Ｒ１を用いている。このＲ１は電動機
の温度によって変動するもので，温度変動によりＲ１が
変動し，それにより回転速度演算の誤差が生じるように
なる。本発明はこれらの問題を解決するために成された
ものである。In the above-mentioned prior art, the primary resistor R1 is used for calculating the magnetic flux vector on the one magnetic side. This R1 fluctuates depending on the temperature of the electric motor, and R1 fluctuates due to the temperature fluctuation, thereby causing an error in the rotation speed calculation. The present invention has been made to solve these problems.
【００１５】[0015]
【課題を解決するための手段】前述の問題点を解決する
ために，本発明の誘導電動機制御装置はキャリア周波数
変調により指定する周波数の高調波電圧の発生手段を利
用して，指定する周波数の高調波電圧を発生し，この高
調波の周波数を変えながら，これに対応する高調波電流
を検出する。指定する周波数の高調波電圧に対応する高
調波電流が最小になるとき，この高調波電圧の周波数は
誘導電動機の回転周波数となる。このようにして，誘導
電動機の一次側抵抗Ｒ１と二次側抵抗Ｒ２に依存しない
誘導電動機の回転速度を推定する手段を備えることを特
徴とする。In order to solve the above-mentioned problems, an induction motor control device according to the present invention utilizes a means for generating a harmonic voltage having a frequency designated by carrier frequency modulation, thereby obtaining a signal having a designated frequency. A harmonic voltage is generated, and a corresponding harmonic current is detected while changing the frequency of the harmonic. When the harmonic current corresponding to the harmonic voltage of the designated frequency is minimized, the frequency of this harmonic voltage becomes the rotation frequency of the induction motor. In this way, a means for estimating the rotational speed of the induction motor independent of the primary resistance R1 and the secondary resistance R2 of the induction motor is provided.
【００１６】以下は，前記解決するための手段が前記問
題点を解決できる理由を述べる。固定子座標における誘
導電動機の電圧・電流基本式が次の（５）式のように示
される。The reason why the means for solving the problem can solve the above problem will be described below. The basic expression of voltage and current of the induction motor in the stator coordinates is expressed by the following expression (5).
【００１７】[0017]
【数５】 (Equation 5)
【００１８】誘導電動機の入力周波数は誘導電動機の回
転周波数と同じようになるとき，二次側電流はゼロにな
り，これに対応して一次側電流も最小になる。これは本
提案の基本原理である。When the input frequency of the induction motor becomes the same as the rotation frequency of the induction motor, the secondary current is zero and the primary current is correspondingly minimized. This is the basic principle of the proposal.
【００１９】指定する周波数の高調波電圧成分を発生す
るために，キャリア周波数正弦波変調を利用する。キャ
リア周波数正弦波変調は瞬時キャリア周波数を次の
（６）式のような正弦波関数で変調する。ただし，Ａは
正弦波変調の幅，ｆｓ０は平均キャリア周波数，ｆΔは
正弦波変調の周波数である。In order to generate a harmonic voltage component of a designated frequency, carrier frequency sine wave modulation is used. The carrier frequency sine wave modulation modulates the instantaneous carrier frequency with a sine wave function as shown in the following equation (6). Here, A is the width of sine wave modulation, fs0 is the average carrier frequency, and fΔ is the frequency of sine wave modulation.
【００２０】[0020]
【数６】 (Equation 6)
【００２１】この場合に，誘導電動機の入力高調波成分
は次の（７）式のようになる。ただし，ｆ１は誘導電動
機の入力基本波周波数である。In this case, the input harmonic component of the induction motor is expressed by the following equation (7). Here, f1 is the input fundamental frequency of the induction motor.
【００２２】[0022]
【数７】 (Equation 7)
【００２３】基本波の付近の高調波の分布はν＝１，ｎ
＝０，μ＝１で，次の（８）式のようになる。The distribution of harmonics near the fundamental wave is ν = 1, n
= 0 and μ = 1, and the following equation (8) is obtained.
【００２４】[0024]
【数８】 (Equation 8)
【００２５】このようにして，ｆΔの選択によって基本
波の付近で任意に指定する周波数（ｆ１−ｆΔ）の高調
波成分を発生することができる。指定する周波数（ｆ１
−ｆΔ）の高調波成分の電流を次のように検出する。３
相固定子座標系（ｕ，ｖ，ｗ）から２相固定子座標系
（αーβ）への座標変換は次の（９）式のように行う。In this way, it is possible to generate a harmonic component of a frequency (f1-fΔ) arbitrarily designated near the fundamental wave by selecting fΔ. Specified frequency (f1
−fΔ) is detected as follows. 3
The coordinate transformation from the phase stator coordinate system (u, v, w) to the two-phase stator coordinate system (α-β) is performed as in the following equation (9).
【００２６】[0026]
【数９】 (Equation 9)
【００２７】２相固定子座標系（αーβ）から（ｆ１−
ｆΔ）の周波数で回転する２相回転座標系（ｄ−ｑ）へ
の座標変換は次の（１０）式のように行う。From the two-phase stator coordinate system (α-β), (f1-
The coordinate transformation to the two-phase rotating coordinate system (dq) rotating at the frequency of fΔ) is performed as in the following equation (10).
【００２８】[0028]
【数１０】 (Equation 10)
【００２９】測定した電流値をこのように変換して，
（ｆ１−ｆΔ）の周波数で回転する２相回転座標系（ｄ
−ｑ）の上で，指定する周波数（ｆ１−ｆΔ）の高調波
成分の電流は直流量で現れる。このようにして，指定す
る周波数（ｆ１−ｆΔ）の高調波成分の電流を検出する
ことができる。By converting the measured current value in this way,
A two-phase rotating coordinate system (d which rotates at a frequency of (f1-fΔ)
-Q), the current of the harmonic component of the designated frequency (f1-fΔ) appears as a DC quantity. In this manner, the current of the harmonic component of the designated frequency (f1-fΔ) can be detected.
【００３０】前記指定する周波数の高調波電圧発生手段
により，指定する周波数の高調波電圧を生成する。周波
数を変えながら，前記指定する周波数の高調波電流検出
手段によりこの周波数に対応する高調波電流を検出し，
高調波電流が最小になるときの指定する周波数（ｆ１−
ｆΔ）が誘導電動機の回転周波数となる。このようにし
て，誘導電動機の回転周波数を推定できるし，推定した
結果は誘導電動機のＲ１，Ｒ２に依存しない。The harmonic voltage generator of the designated frequency generates the harmonic voltage of the designated frequency. While changing the frequency, the harmonic current detecting means of the specified frequency detects the harmonic current corresponding to this frequency,
Specified frequency (f1-
fΔ) is the rotation frequency of the induction motor. In this way, the rotation frequency of the induction motor can be estimated, and the estimation result does not depend on R1 and R2 of the induction motor.
【００３１】[0031]
【発明の実施の形態】図１に本発明の一実施例を示す。
従来技術の図２と同一部分の説明は省略する。図１にお
いて，４は瞬時キャリア周波数演算器であり，（６）式
によりＰＷＭ制御周期毎にキャリア周期を計算する。FIG. 1 shows an embodiment of the present invention.
Description of the same parts as in FIG. 2 of the prior art is omitted. In FIG. 1, reference numeral 4 denotes an instantaneous carrier frequency calculator which calculates a carrier cycle for each PWM control cycle according to equation (6).
【００３２】５は３相固定子座標系（ｕ，ｖ，ｗ）から
２相固定子座標系（αーβ）への座標変換器である。６
は２相固定子座標系（αーβ）から基本波の周波数で回
転する２相回転座標系（ｄ−ｑ）への座標変換器であ
る。７は２相固定子座標系（αーβ）から（ｆ１−ｆ
Δ）の周波数で回転する２相回転座標系（ｄ−ｑ）への
座標変換器である。Reference numeral 5 denotes a coordinate converter for converting a three-phase stator coordinate system (u, v, w) into a two-phase stator coordinate system (α-β). 6
Is a coordinate converter from a two-phase stator coordinate system (α-β) to a two-phase rotating coordinate system (dq) rotating at the frequency of the fundamental wave. 7 is obtained from the two-phase stator coordinate system (α-β) by (f1-f
It is a coordinate converter to a two-phase rotating coordinate system (dq) rotating at a frequency of Δ).
【００３３】８は７の座標変換器の出力の電流座標変換
値を算出し，これにより指定する周波数（ｆ１−ｆΔ）
の高調波電流を検出する。8 calculates the current coordinate conversion value of the output of the coordinate converter of 7, and thereby calculates the frequency (f1-fΔ)
Detect the harmonic current of
【００３４】９は誘導電動機の回転速度の演算器であ
り，指定周波数ｆΔを変えながら，８の指定する周波数
の高調波電流演算器の出力の指定する周波数（ｆ１−ｆ
Δ）の高調波電流を判断し，この高調波電流が最小にな
る時点での指定する周波数（ｆ１−ｆΔ）は誘導電動機
の回転周波数となる。 なお，１０，１１，１２，１
３，１４は周知の機能ブロックであるので，説明は省略
する。Numeral 9 denotes an arithmetic unit for the rotational speed of the induction motor. The frequency (f1-f) designated by the output of the harmonic current arithmetic unit at the frequency designated by 8 while changing the designated frequency fΔ.
The harmonic current of Δ) is determined, and the specified frequency (f1-fΔ) at the time when the harmonic current is minimized is the rotation frequency of the induction motor. In addition, 10, 11, 12, 1
3 and 14 are well-known functional blocks, and a description thereof will be omitted.
【００３５】[0035]
【発明の効果】本発明により，誘導電動機の一次側抵抗
Ｒ１及び二次側抵抗Ｒ２を使わず誘導電動機の回転速度
を推定でき，また，この方法を実現するための付加的な
設備を必要としない。よって，温度変動によるＲ１とＲ
２の変動が生じても回転速度やトルクの制御誤差が発生
せず，またシステムの安定性も確保される。According to the present invention, the rotation speed of the induction motor can be estimated without using the primary resistance R1 and the secondary resistance R2 of the induction motor, and additional equipment for realizing this method is required. do not do. Therefore, R1 and R
Even if the fluctuation occurs in 2, the control error of the rotation speed and the torque does not occur, and the stability of the system is secured.
【図１】本発明の機能ブロック図である。FIG. 1 is a functional block diagram of the present invention.
【図２】従来技術の機能ブロック図である。FIG. 2 is a functional block diagram of a conventional technique.
１ モータ ２ インバータ ３ 電圧検出器 ４ 電流検出器 ５ 座標変換器 ６ 一次側磁束ベクトル演算器 ７ 二次側磁束ベクトル演算器 ８ トルク演算器 ９ 回転速度演算器 １０ 速度ＰＩ制御器 １１ ヒステリシスコンパレータ １２ ヒステリシスコンパレータ １３ ベクトル領域判断 １４ スイッチングテーブル Reference Signs List 1 motor 2 inverter 3 voltage detector 4 current detector 5 coordinate converter 6 primary magnetic flux vector calculator 7 secondary magnetic flux vector calculator 8 torque calculator 9 rotation speed calculator 10 speed PI controller 11 hysteresis comparator 12 hysteresis Comparator 13 Vector area judgment 14 Switching table
───────────────────────────────────────────────────── フロントページの続き (72)発明者 宮下 一郎 神奈川県大和市上草柳字扇野338番地１ 東洋電機製造株式会社技術研究所内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Ichiro Miyashita 338-1, Ogino, Kamisakuyanagi, Yamato-shi, Kanagawa Prefecture Toyo Electric Manufacturing Co., Ltd.
Claims (1)
おいて，誘導電動機の入力電流を検出してベクトルに変
換する電流検出手段と，ＰＷＭインバータにおけるキャ
リア周波数正弦波変調により任意に指定する周波数（ｆ
１−ｆ△，ただし，ｆ１はインバータの出力基本波周波
数，ｆ△はキャリア周波数正弦波変調関数の周波数）の
高調波電圧を発生する高調波電圧発生手段と，前記電流
検出手段により検出した電流を前記指定する周波数（ｆ
１−ｆ△）で回転する座標系へ変換し，変換した値の直
流成分は指定する周波数（ｆ１−ｆ△）成分の振幅であ
り，このようにして指定する周波数（ｆ１−ｆ△）の高
調波電流を検出する高調波電流検出手段と，前記高調波
電圧発生手段により指定する周波数（ｆ１−ｆ△）の高
調波電圧を生成し，この高調波電圧の周波数（ｆ１−ｆ
△）を変えながら，前記高調波電流検出手段により，周
波数（ｆ１−ｆ△）の高調波電圧に対応する高調波電流
を検出し，更に，この高調波電流を判断し，電流が最小
になるとき，この特定の高調波電圧の周波数（ｆ１−ｆ
△）は誘導電動機の回転周波数ｆｍと同じようになり，
これを利用して誘導電動機の回転周波数或いは回転速度
を推定することを特徴とする誘導電動機制御装置。In an induction motor driven by an AC power supply, current detection means for detecting an input current of the induction motor and converting it into a vector, and a frequency (f) arbitrarily designated by carrier frequency sine wave modulation in a PWM inverter.
1-f △, where f1 is the output fundamental wave frequency of the inverter, f △ is the frequency of the carrier frequency sinusoidal modulation function), and the harmonic voltage generation means for generating a harmonic voltage of the carrier frequency, and the current detected by the current detection means. At the specified frequency (f
1-f △), and the DC component of the converted value is the amplitude of the designated frequency (f1-f △) component. A harmonic current detecting means for detecting a harmonic current and a harmonic voltage of a frequency (f1-f △) designated by the harmonic voltage generating means are generated, and a frequency (f1-f) of the harmonic voltage is generated.
While changing (Δ), the harmonic current detecting means detects a harmonic current corresponding to a harmonic voltage of a frequency (f1−f △), and further judges the harmonic current to minimize the current. Then, the frequency of this specific harmonic voltage (f1-f
△) becomes the same as the rotation frequency fm of the induction motor,
An induction motor control device characterized by estimating a rotation frequency or a rotation speed of the induction motor by utilizing this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538797A JP3957369B2 (en) | 1997-07-15 | 1997-07-15 | Induction motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538797A JP3957369B2 (en) | 1997-07-15 | 1997-07-15 | Induction motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1141999A true JPH1141999A (en) | 1999-02-12 |
| JP3957369B2 JP3957369B2 (en) | 2007-08-15 |
Family
ID=16505986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20538797A Expired - Fee Related JP3957369B2 (en) | 1997-07-15 | 1997-07-15 | Induction motor controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3957369B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1292011A3 (en) * | 2001-09-10 | 2005-02-02 | Nissan Motor Co., Ltd. | Motor control for reducing high harmonic currents |
| JP2007267468A (en) * | 2006-03-28 | 2007-10-11 | Meidensha Corp | Inverter control method and its device |
| JP2017108573A (en) * | 2015-12-11 | 2017-06-15 | ダイキン工業株式会社 | Rotation detection device |
-
1997
- 1997-07-15 JP JP20538797A patent/JP3957369B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1292011A3 (en) * | 2001-09-10 | 2005-02-02 | Nissan Motor Co., Ltd. | Motor control for reducing high harmonic currents |
| JP2007267468A (en) * | 2006-03-28 | 2007-10-11 | Meidensha Corp | Inverter control method and its device |
| JP2017108573A (en) * | 2015-12-11 | 2017-06-15 | ダイキン工業株式会社 | Rotation detection device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3957369B2 (en) | 2007-08-15 |
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