JPS58123393A - Controller for induction machine - Google Patents
Controller for induction machineInfo
- Publication number
- JPS58123393A JPS58123393A JP57003621A JP362182A JPS58123393A JP S58123393 A JPS58123393 A JP S58123393A JP 57003621 A JP57003621 A JP 57003621A JP 362182 A JP362182 A JP 362182A JP S58123393 A JPS58123393 A JP S58123393A
- Authority
- JP
- Japan
- Prior art keywords
- vector
- magnetic flux
- induction machine
- current command
- order
- 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.)
- Granted
Links
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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、磁束演算による誘導機の磁界オリエント制御
を行なう装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that performs magnetic field orientation control of an induction machine using magnetic flux calculation.
従来、磁界メリエント制御ではモータ埋込みの磁気セン
サによってギャップ磁束を検出するが、このリップル除
去のために、発振器内蔵のベクトルフィルタを必要とす
る。Conventionally, in magnetic field meridian control, the gap magnetic flux is detected by a magnetic sensor embedded in the motor, but in order to remove this ripple, a vector filter with a built-in oscillator is required.
これは性能上問題ではないが、賽用上の制約がある。This is not a performance problem, but it does impose a usage restriction.
ここにおいて、本発明は、インバータ出力電圧と二次電
流から二次鎖交磁束ベクトルを演算し、かつ誘導次自身
を発振器として利用する磁界ベクトルつまり磁界オリエ
ント制御が可能な装置を提供することを、その目的とす
る。Here, the present invention provides an apparatus capable of calculating a secondary flux linkage vector from an inverter output voltage and a secondary current, and controlling a magnetic field vector, that is, a magnetic field orientation, by using the inductor itself as an oscillator. That purpose.
第１図は、本発明の一実施例の構成を示すブロツク図で
ある。FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention.
第１図において、ｉ、ｘ、３．ｕ、ｓは減算器、ＭＥＴ
／、ＭＵコは乗算器、ＡＤは加算器、Ｎ は速度指令、
ＡＮは速度アンプ、ムエは電流増幅器、００Ｍは在較器
、ＯＯＮはダイオード整流器８よりからなるコンバータ
、ＩＮＶはＧＴＲからなるインバータ、ＯＴは変流器、
テは誘導機、１０はタコゼネ、６は誘導機の２次漏れイ
ンダクタンス分ｌ、係数器、７は１次インビータンス分
係数器（ＰＩは誘導機の１次抵抗、１．は１次漏れイン
ダクタンス、ｐは微分演算子１、ｆｆはその定数■、・
′
Ｈ，＋ＬＩＦ なる１次おくれフィルタ（Ｍは誘導機
の７次２次相互インダクタンス、Ｌ８は７次自己インダ
クタンス）、ＯＰはλ次ｍ交磁束ベクトル演算器、／／
は磁束開平器、Ａ、は比例積分増幅器、■、はトルク電
流指令、工、Ｂは２次電流指令ベクトル（なお、符号の
上に付しれ印はベクトル普であることを示す）、：［１
Ｂは１次電流指令ベクトル、Ｉ 、は１次電流ベクトル
、凱は１次電圧ベクトル、ＥＩＧは無角荷時誘導！Ｉｌ
ｋｍ子電圧ベクトル、小。ギャップ磁束ベクトル、ｉ、
はコ次釧交磁束ベクトル、ｉｏ８は励ｉｔ流指令ベクト
ル、Φ は日
磁束指令、ｆヨはキャリア周波である。In FIG. 1, i, x, 3. u, s are subtractors, MET
/, MU is a multiplier, AD is an adder, N is a speed command,
AN is a speed amplifier, MUE is a current amplifier, 00M is a comparator, OON is a converter consisting of a diode rectifier 8, INV is an inverter consisting of a GTR, OT is a current transformer,
te is the induction machine, 10 is the tachogenerator, 6 is the induction machine's secondary leakage inductance component l, a coefficient multiplier, 7 is the primary impedance component coefficient machine (PI is the primary resistance of the induction machine, 1. is the primary leakage Inductance, p is differential operator 1, ff is its constant ■, ・
' H, +LIF (M is the seventh-order secondary mutual inductance of the induction machine, L8 is the seventh-order self-inductance), OP is the λ-th m alternating magnetic flux vector calculator, //
is a magnetic flux squarer, A is a proportional-integral amplifier, ■ is a torque current command, B is a secondary current command vector (the mark above the symbol indicates that the vector is normal), : [ 1
B is the primary current command vector, I is the primary current vector, Kai is the primary voltage vector, and EIG is the non-angle loading induction! Il
km child voltage vector, small. gap magnetic flux vector, i,
is the next magnetic flux vector, io8 is the excitation current command vector, Φ is the daily magnetic flux command, and fyo is the carrier frequency.
さて、速度指令Ｎ８が与えられると、減詣器ｌでタコゼ
ネＩＯからの速度帰還で減ＩＸ畑れ、その速度偏差が速
度７ンプＡＭを介してトルク電流指令工、となる。そし
て第コの乗算器ＭＵＪＫよシ、−次鎖交磁束φ、と掛算
されてλ次電流指令ｉ１を作る。この一次電流指令’Ｉ
ｃｅは加シ器ＡＤで励磁電流指令ｉ。Ｓと加算され、１
次電流指令ｉ、８を溝用し、減算器コで／次電流士、を
それから減算し、その電流倖差はｔ流増帖゛器Ａ工を鮭
て比較器００Ｍへ与えられ、キャリヤ周波数と比較して
インバーターＮＶを制御し、誘導機ｔを駆重；、する。Now, when the speed command N8 is given, the speed feedback from the tachogen IO is reduced by the reducer I, and the speed deviation becomes the torque current command through the speed 7 amplifier AM. Then, it is multiplied by the -th order magnetic flux φ by the fourth multiplier MUJK to create the λ-th order current command i1. This primary current command 'I
ce is the excitation current command i from the booster AD. Added to S, 1
The next current command i, 8 is used as a groove, and the subtracter subtracts the next current command, and the current difference is applied to the comparator 00M through the current multiplier A, and the carrier frequency is In comparison, the inverter NV is controlled and the induction machine t is driven.
ぞして、１次電圧止、と（Ｒ，＋４．Ｐ）の会数器りを
経た２次指令電流ｆＩＳが沖算器３で演算され：：：１
゜
て無負荷時端子電圧り。となり、それが定数Ｒ，＋Ｌ、
Ｐの７次おくれフィルターを経過してギャップ磁束ふ。Then, the secondary command current fIS which has passed through the primary voltage stop and the multiplication of (R, +4.P) is calculated by the offset calculator 3:::1
゜The terminal voltage is at no load. So, it becomes constant R, +L,
The gap magnetic flux passes through the 7th order delay filter of P.
となり、これから１．の保数器ｔを釘たλ次指令電流ｉ
ｔｓを減算して、２次釦交磁束ｉ、を得ている。So, from now on, 1. The λ-order command current i that passes the keeper t of
By subtracting ts, the secondary button exchange magnetic flux i is obtained.
一方、磁束（振幅、）指令Φ が＃調器！へ与えられて
おり、それから２次鎖交磁束ｉ２を磁束開平器／／によ
り演算して得た一次鎖交磁束の絶対値＋ ｏ、 ｌを減
算して比例積分増幅器Ａ。を介し第７の乗算器ＭＵ／に
入力し、２次釦交磁束小、と乗壊して励磁電流指令１（
ｌｓｉを導出している。On the other hand, the magnetic flux (amplitude,) command Φ is #regulated! The absolute value of the primary magnetic flux linkage + o, l obtained by calculating the secondary magnetic flux linkage i2 using a magnetic flux squarer // is subtracted from the proportional-integral amplifier A. is input to the seventh multiplier MU/ through
lsi is derived.
すなわち、この実施例は１次電圧ｉ、と一次電流指令ｉ
、８から誘導機ツの２次釦交磁束ホ、を演算する一次鎖
交磁束ベクトル演算回路ｏｐと、コ次欽交磁束もの絶対
値１Φ、１を磁束指令Φ８に負帰還してき束を定格値に
制御する回路とを中心として、速度指令Ｎ ヘタコゼネ
１０からの誘導機速度Ｎｈ（を負帰還？せ、速度アンプ
声、を介して速度制徊！シ、その速度アンプＡヨの出力
をトルク１１流指令工、とする磁界オリエント制御を構
成している。That is, in this embodiment, the primary voltage i and the primary current command i
, 8, the primary interlinkage magnetic flux vector calculation circuit OP calculates the secondary exchange magnetic flux of the induction machine, and the absolute value 1Φ of the exchange magnetic flux, 1 is negatively fed back to the magnetic flux command Φ8 to set the flux to the rated value. Centering around the circuit that controls the speed command N, the induction motor speed Nh (from the hetakogenerator 10) is given negative feedback, and the speed is controlled via the speed amplifier voice, and the output of the speed amplifier A is set to the torque 11. It constitutes a magnetic field orientation control with flow direction control.
とこで、２次舒交磁束ベクトル演算について触れておく
。By the way, let us touch on the calculation of the secondary flux vector.
かコＮ（は、誘導機の等ｆｌＩｉ晒路である。kakoN( is the exposed path of the induction machine.
ｈは２次電流、ｉ、は一次電圧、ｈは一次抵抗、１０は
励磁電流である。h is a secondary current, i is a primary voltage, h is a primary resistance, and 10 is an exciting current.
Ｗ、１図においてＢＢ ａ ｉ、を１６＊Ｉ２で表わ
すと次式が起り立つ
Ｋｔ−（Ｆｔｔ＋Ｌ＋Ｐ）Ｎｏ ＋（ＲＩ ＋”Ｌ＋ｐ
）Ｉｔ・・・・・・（１式）
１１ ｗｍ Ｍ Ｐ Ｘ６ −１ｔｐ工１
−− （コ式）（１式）より励磁電流ｉ。が
得られる。W, In Figure 1, when BB a i is expressed as 16*I2, the following equation arises: Kt-(Ftt+L+P)No +(RI+"L+p
) It・・・・・・(1 set) 11 wm M P X6 -1tp engineering 1
-- (Formula 1) Exciting current i from (Formula 1). is obtained.
ｉｏ ＝ ａ、 ＋ Ｌ、、、 （”ｔ −（ＲＩ”
”１ｐ） ｉｏ ）・・・・・（３式）
％式％
１ ・・・・・・（参式）でｂるから
、これらを（コ式）に代入してｏｔ１″耳葺１ｍ−（”
＋”ｌ＋ｐ）±２）−１１！！・・・・・・（３式）
そこで、ｉ、を誘導機デの端子電圧から導入し、ｉを一
次を流指令ｉ２ｓから演算して、（３式）によシコ次如
交硅東ｉ、を導出している。io = a, + L,,, ("t - (RI"
``1p) io )...(3 formula) % formula% 1......(3 formula) is b, so substitute these into (ko formula) to get ot1'' ear roof 1m-( ”
+"l+p)±2)-11!!...(Formula 3) Therefore, i is introduced from the terminal voltage of the induction machine, i is calculated from the primary flow command i2s, and (3 (Formula), we derive the following formula.
第３図は、本発明の他の実施例の結成を示すプロック図
である。FIG. 3 is a block diagram showing the formation of another embodiment of the invention.
この他の実施例は電流方形波インバータに適用する場合
で、ｌコは電流開平器、１１１Ｂ＋は１次電流指令の絶
対値、Ｒ８は移相器、ＬＤｏは直流リアクトル、ｐｃは
通電幅変換器、ＦＡはパルス増幅ａである。This other embodiment is applied to a current square wave inverter, where l is a current squarer, 111B+ is the absolute value of the primary current command, R8 is a phase shifter, LDo is a DC reactor, and pc is a conduction width converter. , FA is the pulse amplification a.
コンバータＣＯＮおよびインバータエＮＹはそれぞれＳ
ＣＲをもって形成される。Converter CON and inverter NY are each S
Formed with CR.
その他の磁束演算は第１図のそれと同じである。Other magnetic flux calculations are the same as those in FIG.
かくして本発明によれば、従来装艮での再記ベクトルフ
ィルタが除かれる、つまりインバータ出力電圧（／？Ｘ
：１１圧ｉｃｔ ）と２送電、流（一送電流指令工ｙ
ｓ ｌから一次釦交磁束小、を演１１ＬＩてｔ）るので
リップルが少なく誘導機デ自身を発振器として利用し、
ベクトルフィルタを省略することができる。Thus, according to the present invention, the rewriting vector filter in the conventional arrangement is eliminated, that is, the inverter output voltage (/?X
: 11 voltage ict) and 2 power transmission, current (1 transmission current command y
Since the primary exchange magnetic flux is small from s l, ripple is small and the induction machine itself is used as an oscillator,
The vector filter can be omitted.
そして、磁束の演算をイン／＜・−夕臣１路で行なうの
で、実用・十有利で汎用に適する。Since the magnetic flux is calculated in a single path of in/<.--Yuomi, it is practical and advantageous and suitable for general use.
かつ、原理的に磁界オリエント制御であるから、ト密な
タコゼネは不要で乏シ、スリップ周波数に関して無訴整
で良いから、その訓、整上有利である。Moreover, since magnetic field orientation control is used in principle, there is no need for a dense tachogenerator, and the slip frequency can be adjusted without complaint, which is advantageous in terms of adjustment.
なお、界磁の訓整も容易である。Furthermore, field training is also easy.
また、（５式）による２次鎖交磁束６．の演算にＲ１が
和われないから、２次抵抗Ｆ、の温度変化の影蕃がない
。Also, secondary magnetic flux linkage 6 according to (5 formula). Since R1 is not added to the calculation of , there is no effect of temperature change on the secondary resistance F.
第１図は本発明の一ツ施例の構成を示すブロック図、第
２図は誘導機の等価回路図、ｗ３図は本発明の他の実施
例のブロック図である。
Ｎｓ−・・速度指令、ｔ、２．３．１１．ｓ；−ｆ４算
器、ＡＭ・・・速度アンプ１．ＭＵ／、ＭＵＪ・・・乗
ｔＢ。
ＡＤ・・・加算器、Ａ工・・・Ｖ流増幅器、ＣＯＭ・・
・比較６、ＣＯＮ・・・コンバータ、工ＮＶ・・・イン
７＜ −ｐ、ＯＴ・・変ｉ器、６・・・２次漏れインダ
クタンス分係数器、７・・・１次インピーダンス分優数
器、ｇ・・・定数□の１次お゛くれフィルタ、！・・・
誘導機、Ｒ，＋Ｌ１ｐ
１０・・・タコゼネ、ｌ／・・・磁束開平器、／コ・・
・電流開平器、Ａ、・・・比例積分増幅器、工。・・・
初期励磁指令、ｆＨ・・・キャリア旋波、２日・・・移
相器、ＰＣ・・・通電幅変換器、Ｐム・・・パルス増幅
器、工、・・・トルク電流指令、ｉ！ｐ・・・−送電流
指令、凱６・・・１次電流指令、ｉｌ・ ７次を流、ｉ
、・・・１次電圧、止、０・・・無狼荷時訪導機端子電
圧、ｉｏ・・・２次紅交磁束。
ｉ０６ 励磁電流指令、ＮＭ・・・計導機速度。FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention, FIG. 2 is an equivalent circuit diagram of an induction machine, and FIG. W3 is a block diagram of another embodiment of the present invention. Ns--Speed command, t, 2.3.11. s;-f4 calculator, AM... speed amplifier 1. MU/, MUJ... multiplied by tB. AD...Adder, A...V flow amplifier, COM...
・Comparison 6, CON...Converter, Engineering NV...In7<-p, OT...Transformer, 6...Secondary leakage inductance fractionator, 7...Primary impedance fractionator vessel, g...first-order deflection filter with constant □,! ...
Induction machine, R, +L1p 10...Tachogenerator, l/...Magnetic flux flattener, /co...
・Current square squarer, A, Proportional-integral amplifier, Engineering. ...
Initial excitation command, fH...carrier rotation, 2nd...phase shifter, PC...current width converter, Pmu...pulse amplifier, engineering...torque current command, i! p...-transmission current command, Gai6...primary current command, il/7th order flow, i
, . . . Primary voltage, stop, 0 . . . Terminal voltage during unloading, io . . . Secondary magnetic flux. i06 Excitation current command, NM...meter speed.
Claims (1)
ｉと２次電流指令ベクトルｉ２ｇとを入力してλ次佃交
磁束ベクトル０．を演算導出するλ次鎖交磁束ベクトル
演算器と、罰記コ次鎖交磁束ベクトルｉ２の振幅信号と
磁束指令信号との偏差量を入力する比例積分増幅器と、
前記比例積分増幅器の出力と前記λ次鎖交磁束ベクトル
ｉ！とを掛けて励磁電流指令ベクトルｉ。ｅを導出する
第１の乗算器と、前記誘導機の回転速度を検出する回転
速度検出器からの速度フィードバック信号と速度指令信
号との偏差を比例積分増幅して得られるトルク電流指令
工 と前記コ次鎖交磁束ペクトτ ルΦ、とを掛けて前記２次電流指令ベクトル１１ｓを出
力する第２の乗算器と、前記励磁電流指令ベクトルｉ（
１ｇと廊、記２次電流指令ベクトルエ！８とを加算して
１次を流指令ベクトルｉ、８を導出する加算器とを備え
、前記誘導機の磁界オリエント制御を行なうようにした
ことを％徴とする誘導機の制御装置。Scope of Claims: By inputting the primary terminal voltage vector i and the secondary current command vector i2g of an induction machine driven by an inverter, the λ-th cross magnetic flux vector 0. a λ-order flux linkage vector calculator that calculates and derives the λ-order flux linkage vector; a proportional-integral amplifier that inputs the deviation amount between the amplitude signal of the λ-order flux linkage vector i2 and the magnetic flux command signal;
The output of the proportional-integral amplifier and the λ-order interlinkage magnetic flux vector i! is multiplied by the excitation current command vector i. a first multiplier that derives e, and a torque current command value obtained by proportional-integral amplification of the deviation between the speed feedback signal from the rotational speed detector that detects the rotational speed of the induction machine and the speed command signal; a second multiplier that outputs the secondary current command vector 11s by multiplying the secondary current command vector 11s by the second order magnetic flux linkage vector τ
1g and corridor, secondary current command vector e! 8 and an adder for deriving a first-order flow command vector i, 8, and controlling the magnetic field orientation of the induction machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57003621A JPS58123393A (en) | 1982-01-13 | 1982-01-13 | Controller for induction machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57003621A JPS58123393A (en) | 1982-01-13 | 1982-01-13 | Controller for induction machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58123393A true JPS58123393A (en) | 1983-07-22 |
| JPH0343862B2 JPH0343862B2 (en) | 1991-07-04 |
Family
ID=11562561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57003621A Granted JPS58123393A (en) | 1982-01-13 | 1982-01-13 | Controller for induction machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58123393A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395879A (en) * | 1986-10-09 | 1988-04-26 | Mitsubishi Electric Corp | Speed & flux controlling device for induction motor |
-
1982
- 1982-01-13 JP JP57003621A patent/JPS58123393A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6395879A (en) * | 1986-10-09 | 1988-04-26 | Mitsubishi Electric Corp | Speed & flux controlling device for induction motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0343862B2 (en) | 1991-07-04 |
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