TW200531424A - An induction servo motor drive with accurate indirect rotor flux oriented control - Google Patents

Abstract

This invention proposes a rotor flux detuning index and an accurate rotor time constant estimator to obtain an accurate rotor time constant through on-line calculation for accurately controlling the magnitude and the direction of the rotor flux so that the motor drive can maintain best dynamic and steady-state performance. Basically, this invention consists of a fully digital controller, a current-controlled PWM inverter, current sensors, voltage sensors and an incremental type encoder. In particular, the fully digital controller can be implemented by using a micro-controller unit (MCU), a digital signal processor (DSP) or a personal computer. Included inside the digital controller are the proposed accurate rotor time constant estimator, a speed controller, a current controller, a rotor flux angle and speed calculator, and a rotor speed calculator. The proposed invention can keep the motor drive from being influenced by the temperature variation and magnetic saturation through activating the necessary correction of the rotor time constant when the rotor flux is detuned, and hence maintain the best performance of the servo drive.

Description

200531424 发明 、 Explanation of the invention: [Technical field to which the invention belongs] The field of motor control The present invention focuses on the indirect steering control of the rotor magnetic field of an induction feeding motor, especially the establishment-effective index to determine whether the rotor magnetic field is poorly adjusted, and when the rotor A method to accurately estimate and correct the rotor time constant online when the magnetic field is poorly adjusted. [Previous technology] The induction servo motor drive controller using indirect steering control of the rotor magnetic field compensates the effect of the rotor time constant due to temperature changes. The traditional method currently used in the industry is to bury the stator coil (temperature). The temperature of the money motor and the peak rotor constant are based on the disadvantage that the temperature finer must be used, which increases the cost of materials and wiring assembly, so that it does not touch the temperature of the rotor. In the existing literature, Although there are many papers published, they are limited by the following _ items or multiple factors: 1. Due to the complicated laws, it is not easy to implement online calculation on the bribery control in the industry; 2. The X stator is not considered The influence of the temperature change of the battery will affect the accuracy of the calculation; 3. Not tested? Accuracy of confusion and electricity, and the accuracy of shadow calculation; 4. It is impossible to automatically determine when the rotor time constant must be estimated, so it must be calculated at any time.

System software resources. V The rotor magnetic field misalignment index proposed by this creation & Ming can effectively ride the rotor magnetic field whether the device is moving without performing estimation and correction at any time, and the essence of this creative invention ★ rotor nu number estimation can cover both temperature and = shadow f Existing data in the drive control device, so it is not necessary to see Ming Tiir on drive control 11 in the industrial world; in short, the implementation of this creative development ztr is now a bad gift, that is, _rotor hour «number is accurate" 1 > The positive and misaligned rotor magnetic field A is small and the orientation is correctly guided to maintain the dynamic and steady-state performance of the induction feed motor 200531424. [Summary of the Invention] This invention is referred to as a precision rotor field-oriented control drive device for induction servo motors. As shown in the first figure, this device consists of an all-digital controller (1) with a conventional current-controlled PWM inverter (2), a conventional current sensor (3), and a conventional voltage sensor. The input power of this driving device is a DC power supply (5), and the wheel output is connected to a three-phase induction servo motor (6) and connected to the three-phase induction servo motor rotor. An incremental encoder (7) provides the rotor angle signal of the motor. The internal function blocks of the all-digital controller (1) include a conventional speed controller (u), a conventional current controller (12), and a conventional Know the rotor magnetic field speed and angle calculator (13), a conventional rotor speed calculator (14), and the accurate rotor time constant estimator (15) of this creative invention. The internal knowledge of the all digital controller The speed controller performs closed-loop speed control according to the external speed command and the actual speed of the motor obtained from the known rotor speed calculator. The known current controller accepts the current command output by the known speed controller and the current sensor feedback. The actual current, in conjunction with the angle and speed data required for the magnetic field steering control provided by the conventional rotor magnetic field speed and the angle meter differentiator, will output a gate-level control signal after calculation to the conventional current-controlled PWM inverter to generate The expected current is used to drive the induction servo motor. The closed-loop control and rotor field-oriented lobes described above are all softened in the full digital controller. The following explains the function blocks of the all-digital controller and the principle of the accurate rotor time constant estimator. (1) Knowledge-saving speed controller (11) · According to the input speed command (<) and from the conventional knowledge Two signals of the rotor speed (groove) of the rotor speed calculator, after proper calculation, obtain the quadrature axis current command (ζ), that is, the torque current component, and the straight axis current command ((), that is, the exciting current component. This The two current commands will make the induction motor produce enough torque to eliminate the difference between the actual speed and the speed command. Because the speed of the induction servo motor is generally set within the range of the base speed, no field weakening control is required, so Use a fixed amount of excitation current as the direct axis current command value. (2) Conventional current controller (12): Use the direct axis current command and direct axis current command output by the conventional speed controller as the current command signals. , The phase current measured by the current sensor is used as the input current feedback signal, and the seat is based on the angle and speed of the rotor magnetic field. Conversion and decoupling compensation. After proper calculation, three-phase voltage signals are generated. After pulse width modulation processing, six control signals required for semiconductor switches of the inverter are generated. Finally, they are isolated and output to the inverter. The device outputs a proper voltage, so that the current vector can be guided on the synchronous rotation coordinates of the rotor magnetic field, and the difference between the current command and the actual current is eliminated. (3) Known rotor magnetic field angle and speed calculator (13): According to the principle of indirect field conductance control, in the steady state, the rotor magnetic field can be calculated from the quadrature axis current (k), the direct axis current, and the rotor time constant. Rotor slip frequency:

Tr ^ ds (Equation 1) where the subscript d, "represents the straight axis and the quadrature axis of the synchronous rotating coordinate system of the rotor magnetic field, and the rotor time constant is 7> Yu. • The rotor speed Or) entered by the rotor speed calculator can be used to calculate the speed of the rotor magnetic field: Don't, (Equation 2) (Equation 3) ° \ = c〇r + cosl, and the angle of the rotor magnetic field can be calculated as follows: or Straight _ is obtained by using the rotor angle signal 增 (Equation 4) 6 ^ 6r ^ \ (〇sldt 200531424) measured by the S-type encoder. ≫ (4) The conventional rotor speed calculator (14): Incremental encoder takes the rotor angle ^ number ⑷ to derive the rotor speed ⑷. If an incremental encoder is not installed, the parameters of the inductive I motor and the current phase and voltage «与The rotor speed of the induction motor is estimated by calculating the phase current and the phase current properly. This functional block is shown in the rotor speed estimator (214) shown in Figure 2. (5) The accurate rotor time constant estimator based on the invention. (15): In the indirect field guidance control method, the accuracy of the reference value of the rotor _ constant depends on the magnetic material: the quasi-disc degree 'so it also directly affects the effect of coupling coupling. If the rotor magnetic field angle is produced: it is not accurate enough , The torque will likely occur dynamic ship, making the ship system response frequency ^ due to: When a squirrel-cage electric motor is running, the number of rotors will change due to the influence of the rotor resistance, but it is limited by the mechanism's inability to directly measure the temperature or resistance of the rotor. Therefore, the reference value of the rotor time constant The error tolerance is within a very small range ^ This makes accurate indirect field guidance control a very difficult engineering problem. In order to solve this problem, this creative invention first defines a rotor magnetic field offset factor (hereinafter referred to as offset The factor) is as follows: Κ and Qo ^ dLJi (Equation 5) where β is the virtual work, / 2 is the squared value of the stator current, and σ is the total leakage coefficient, which can be shown in Table 8 as ^ ^ Vps ^ as ~ Vas ^ s, (Equation 6) (Equation 7) σ will be 1 __ ^ W (Equation 8) where the subscripts α and 々 represent any one of the synchronizing coordinate system of the straight car and the intersecting axis. Banxiamatsu uses 200531424 g only to represent the rotor magnetic field synchronous rotation. The straight axis and the quadrature axis of the coordinate system are different ^, v, u, & respectively represent the straight axis stator voltage and the parent axis stator voltage, and the straight axis current and the quadrature axis current on this arbitrary synchronously rotating coordinate system The following derivation is missing Tuning factor: the function that can be played under indirect field conductance control. Under steady-state conditions, the straight and quadrature components of the stator voltage at the synchronous coordinates of the rotor magnetic field can be expressed as I · vds two RJds-0) ecjLsiqs (Equation 9) Since the calculation of virtual work is not related to the selection of the coordinate system, 10 is brought into Equation 6 and expanded as follows: (Equation 10) Therefore, Equation 9 and Equation can be

Vqstds-V dsl ^ oLj: (Equation 11) where δ / 〃 is the total input virtual work of the induction motor. Using equation 7 to eliminate equations k and 4 respectively, we get: 〇) e ωβ ^ 8Ι28 in equation 11 (equation 12)

L

C〇e ^ j) -Q (Equation 13) Comparing Equation 5 and Equation 12, and using the rotor's magnetic view in steady state = two-square equation ', the offset factor scale can be expressed as: Λ's equation 200531424

L κ ii 〇eX (Equation 14) Referring to the steady-state equivalent circuit diagram of the induction motor under field conduction control shown in Figure 3, it can be seen that the total virtual work input to the induction motor is deducted from the left in the shovel state, The work can be used to find the virtual work required for the equivalent magnetizing inductance, which is the physical meaning represented by the equation ^ Find ^ 's loss of marriage number K. Further, it can be seen that the square of the missing flux link is directly proportional, but inversely proportional to the rotor inductance. When the temperature of the induction motor rises, the resistance value of the rotor will increase, and the rotor time constant (7;) will decrease accordingly. 'If the equation for calculating slip is still uncorrected, the reference value of the rotor time constant (r: ), Then the magnetic field = caused by the slippage, Weihong Fanxian County, the calculated rotor rotor I will be smaller than the actual value, causing the rotor magnetic field to be guided in the wrong & under observation, 4 mosquito cutting age Turning to Wei, but the four sound values of the angle of the magnetic field examination chart are smaller than the rotor angle of the rotor, so the cosine theorem can be inferred that the real current will exceed the direct axis current command. ≫4); the effect of this situation on the magnetic circuit ^ ^: Increase 'The degree of saturation increases, and the small result of the Xunzi electric turn is reflected on the right side of the equal sign of Equation 14: the denominator (4) decreases, but the relationship between the denominator and the fortune increases, so it will cause loss. The number of contacts ^ appears to be clear. In other words, when there is an error in the rotor time constant, the offset factor 1 can be two: ί, so all digital controllers can use the extremely sensitive offset factor to determine whether it is necessary to Estimates and corrections. Please = Dirty outline, Shao-nen axis, ω rotor magnetic field misalignment 彳 The indication (hereinafter referred to as the misalignment index) is as follows: K〇

A (Equation 15) 200531424 ~ 〇) eaLsIs) ^ g〇 ^ CT ^ / 2〇) ωβΦΐ ①

L

Lr〇 ωβΦ'ο (Equation 16)

L > 〇 where βο, Λο, also 〇, and Lr0 represent the nominal values of ρ, 厶, Rong, and 4 under the rated excitation state, and especially. It is defined as: Heart = Seven ακ. (Equation 17) Theoretically, / = 〇 means that the rotor magnetic field is correctly oriented in the direction of the fiber, and 0 means that the rotor magnetic field is in a poorly adjusted condition. The larger the absolute value of 7 is, adjust the sewing weight in bad situations. If / > 〇 'represents that the rotor magnetic circuit is more saturated than the nominal case, it also represents; < [' Converse right / < 〇 'represents that the rotor magnetic circuit is unsaturated than the nominal case, also represents GZ ; *. Therefore, 7 can indicate that the rotor_tilt reference value is the “correct adjustment value” and it can also indicate the direction and degree of correction when the rotor time constant is poorly adjusted. = The rotor is magnetically connected to the steering control system. Is the pole rotor _ constant value correct? The interstitial slip is equal to the slip command, that is, ^ * * ljs, factory one. Therefore, the correct rotor time constant can be expressed as · · ^ ZriZL.il ^ ^ C ids Since the actual rotor magnetic field angle cannot be determined, it is actually obtained. But looking at equations 12 and 13, we can see that ... (Equation 18) (Equation 19) 4 and. Nor can it be directly 12 200531424

lJL--Q ids iQecrLsI "(Equation 20) Therefore, the actual rotor time constant to be solved by Equation 17 can be expressed as: C, \ ^ JPq Q — cDeaLsI] (Equation 21)

Tr is called in the above formula, and ㈣Λ can be obtained directly, regardless of the selected reference coordinate system. For a single squirrel-cage blue sensor electric axis, σ4 (= 4_ | _) is reduced by the current and solution. It is a fixed value (refer to E TRANSACTI〇Ns⑽in〇ustry Να U PR 35-42 > JANU ™ bbRUAR,-" Saturated magnetic circuit material ', so we must try to rely on the magnetic circuit to ensure the accuracy of Equation 2G. .According to the foregoing remarks: loss of A «/ can be used to refer to whether the saturation degree of the magnetic circuit of the rotor deviates from the rated operation, the magnetic circuit saturation caused by the poor adjustment of the rotor time constant is changed = Jing Zeng_Jie The ratio of molybdenum μ π to the inductor inductance ω and the rotor inductance α) are considered to be the same, and shame w can be regarded as a function of loss u, and expressed as

Ls (J) = Lso + axJ + a2j2 r ^ r (Equation 22) z is the nominal value in the demagnetized state, and αι and β2 are the linear regression coefficients of the stator inductance, which are obtained from experimental data, such as As shown in Figure 5. The software form when the rotor of the pot butterfly is deleted is controlled in full digital ^^ 3 as the following calculation steps, and the program step is interrupted 1. Check whether the system enters a steady state: If ^ Ah) k- \, = < θ and Μ < ε2 13 200531424 then go to step 2; otherwise go to step 8. Step 2 · Calculate ⑺ = Di χ "r%, and use equations 6, 7, 17, 14 to calculate the differences Q, U0, and K respectively. Step 3 · Calculate / = Ruler & Fly 1 Step" If heart 3, go to step 8. Otherwise, calculate L, = Lsda'J + aij2

Hhco ^]-Q ί = ω l eKqs) Step 5. Calculate the value. Step 6 · Calculate six ωsi hs. Step 7 · Update the reference value of the rotor time constant. Step 8 · Go out of the interrupt program. These are two appropriately small positive real numbers used to determine whether the system enters the table ... 6¾ #The reasonably small positive number is based on the magnetic circuit characteristics of the induction motor to determine whether the offset index J is close to zero. Because the rotor resistance changes slowly, # the actual operation is light and easy to perform calculation and update of the constant value of the __ constant reference value, and-once the temperature rise gradually enters a steady state, the rotor resistance will change more slowly, the number of executions It can be reduced even more, and these can be achieved through appropriately set sentences. Because the temperature rise of the induction servo motor is slow, considering and correcting it in a steady state can meet most applications. However, for applications that require frequent acceleration and deceleration or frequent load changes, you must consider transient conditions and apply The equations derived above are corrected. In the short-term transient situation, assuming that the rotor magnetic field remains unchanged, it can be deduced that π and π under 14 200531424 are used to replace the division and fire: Η, ⑺eLJ2s ~ [Q 一 叫化 at di dt-)] (equation 23) K} — [Q — aL (i ^ liL j out as, fly

Aas dt ~ l ^)] ~ w ^ LJs (Equation 24) Then substitute 5 to calculate the tb value of the "Small Electricity Direct Extinction" as a correction formula suitable for short-term transient conditions. To present the invention of this creation The effect is shown in the figure. The chicken device is equipped with a 5.5KW three-mesh j servo electric field for comparison experiments. The experiments are divided into the following: the 1-time time estimator of the invention and the precise rotor time of the invention There are two conditions of the common tester, the excitation current command 4 of both is the rated value, and the operation is performed for about two hours (7018 seconds) under the same conditions imposed by the rotation speed 20_ 'and the load'. The obtained waveform is shown in Figure 6 and Figure 7, where Figure 6 shows the experimental results of the rotor measurement without the implementation of the invention. Figure 7 shows the experimental results of the early rotor time constant estimation of the rotor of the invention. Figure 6 (a) shows that the outer frame of the stator of the motor rises from 3rc to li0.2 ° C (two traces in the figure). The precise rotor time U device of the invention is not implemented in the surface drive device, so the reference value of the rotor time constant. It is a fixed G · 2172 seconds; Figure 6: Figure 6 (d) shows the change of slip frequency; Figure 6 shows the parent axis current command C to move; Figure 6_ shows the change of virtual power payment. Figure 4 'in Figure 7' Figure 7 ( a) indicates that the outer frame of the motor stator is increased from 30.5 ° C Ji to 107.3 ° C $ 幵 trajectory); indicates the accurate rotor time constant estimation in the implementation of the invention; the reference value of the number of ST time books The trajectory of changes that are estimated and revised online; Figure VII shows the trajectory of bribes in Table 6; Zhuang ⑹ means the slippery Wei; Figure VII (e) shows that 々 丨 l〒 令 l's change is on track; Figure VII It shows the trajectory of the change of virtual work ρ. From the comparison between Figure ^ and Figure VII, it can be seen that the number of changes in the temperature when the temperature rises against the rotor is as clear as the day. The right is not corrected, as shown in Figure 6 (d), Under a fixed load, the slip frequency of 15 200531424 is comparable to that of __. However, due to the actual change of the rotor magnetism A ′, the 2 value will cause the degree of adjustment s σ with temperature rise. The increase of work results in the loss of j. It also shows that i is not as good as ramie. These results show that the scale-adjusting rotor of the μ μ touches the green system 11, and the basis for the imbalance = 2 is shown in Figure 7 (Side Seven (⑽); due to " Rated value: plus negative i = solid:: c remains unchanged, it can be verified that the rotor magnetic field is controlled to be correct: 4, no poor adjustment due to temperature noise is expected to be maintained-near zero The scope is as shown in Figure 7 (c). If it is not approved, it can be summarized as the description of this creative invention, which can be summarized as the impact of the time mark of the rotor and the rotor. The time is often d, and the magnetic resonance phenomenon of Daxixin is slightly: In addition, it is obtained by using an observer or an additional sensor, so that only two additional materials are not needed. Therefore, it has both completeness and practicality, which is very suitable for the i CNC department. There is magnetic sensitivity, which can be used to judge the rotor ^ rotor time constant estimator, the section ===== can be suspended to start the accurate time constant estimation method is not available = number ===, and other rotors 3, The source of the calculation error caused by the loss of the rotor of the Chuanger Rotor includes the fact that the filter has not been filtered in the step, and provides-an effective way to correct the variable data on the synchronous rotation coordinates used when the mm2 stator is saturated. 2 'In addition, for the magnetic field synchronization coordinates of the operator, It is not required to be taken from the correct rotation, which defeats the purpose of precise rotor magnetic field steering control. Real second 16 200531424, in line with the application for an invention patent. [Embodiment] When the driving device of the present invention is used, it needs to be matched with a DC power supply, a three-phase induction motor and an incremental encoder connected to the motor rotor to form an induction feeding system. The DC power source can be a general DC voltage source, such as a battery pack, or it can be generated by an AC voltage source through rectification and filtering. The three-phase induction servo motor is a single squirrel-cage three-phase induction motor suitable for servo control applications. When used, it must be equipped with an induction servo drive device. Do not directly use the two-phase father-phase power supply of the power company. Incremental encoders are generally commercially available products, and their serial numbers are in the form of pulse output or serial output. The following are possible implementations of this creative invention. The functions of the all-digital controller can be realized by using a conventionally known microcontroller unit, digital signal processor or personal computer, and with appropriately designed software; the tasks of its internal function blocks are performed using interrupt service software of a specific cycle Among them, the execution cycle of the interrupt service software with the conventional current control cry is the shortest, and the execution of other interrupt service software is mostly multiples. / First, the conventional speed controller in the all-digital controller reads the external speed command in a fixed cycle, and the rotor speed derived from the incremental encoder feedback signal through the speed calculator, and then according to both The difference value is obtained through a proper control rule, such as the conventional proportional-integral control method, to obtain a quadrature axis current command, and a straight axis current command according to the rotor speed ^. For the general sense uniform motor, (It is the rated excitation current value of @ 定 之. Enter the parent axis current command, direct axis current command 4, and rotor speed into the conventional rotation = magnetic field ^ and speed calculator, and you can calculate the rotor. The angle and speed of the synchronous rotation of the magnetic field with respect to the fixed coordinates of the magnetic field, the execution cycle is equal to or less than the conventional speed control state. W In the process of this, the rotor time constant must be used to calculate Equation 1, in order to grams = temperature change Or magnetic saturation affects the rotor time constant, so this functional block must also obtain the reference value of the rotor time constant adjusted online from the 4 quasi-rotor time constant estimator. The precise rotor time constant estimator is responsible for implementing the calculations of the invention. Step, which performs 11 work greater than the speed controller. The main input is 17 200531424, which is fed back by the current sensor and the voltage sensor, and the phase angle and speed of the coordinate axis with the same money. ^ In the anti-cardiac output amplifier, the prostitutes' input-side isolation amplifier 'the former can be directly related' the latter must cooperate with the opening of the PWM Calculate the phase voltage. The feedback phase and phase voltage signal planes are first transformed by coordinates to obtain the calculation of the components on the synchronously rotating coordinate axis and the green side of the wire. The rotor estimator first calculates the offset index. If the offset index is close to zero, the ship will exit; if the offset index is greater than the set value, the rotor_constant reference value will be estimated * updated to provide the corrected rotor_constant reference value to the rotor magnetic field angle and speed calculator in a timely manner. Axis current command ς, straight axis current command 4, angle and speed of the rotor magnetic field, and phase current signals fed back by the current sensor-and input to the conventional current controller, = execute, period-generally known Speed controller's 1/2 to _.f knows that the current controller according to the difference of the sub-magnetic field, first converts the electric riding order or the feedback coin to coordinate the two: to the stator fixed coordinate system or synchronous rotation coordinate pure , The law of the difference between the two appropriate rules, such as the conventional proportional integral control of wealth, money, decoupling, compensation, and the difference, and if you want to coordinate view again, make a voltage command on the mosquito coordinate system, This voltage command is then adjusted with appropriate pulse widths to generate six power semiconductor switch pole control signals, which are isolated and output to a conventional current-controlled PWM inverter to generate the expected current to the induction servo motor. For-basically complete, the actual age of this case, the other-the real money type is exempted from the incremental 'encoding' ⑨ incoming speed of the rotor, the current and electricity of the control system are obtained = current and phase, parameters of the Wei induction motor and Appropriate software constitutes the rotor speed, and the estimator estimates the rotor speed, that is, replaces the hardware's incremental coding H with all healthy software, to obtain the rotor speed, weave and add the estimated slip, Obtain the rotor magnetic field velocity of the rotor magnetic guide guide. The age block diagram is as shown in the figure. [Simplified illustration of the diagram] The first picture shows the control method and driving device of the fine paste for the uniform electric machine. System block diagram of 200531424 The second diagram: The system block diagram of the precise indirect field guidance control method and driving device of the induction servo motor showing ... The third figure: shows the steady-state equivalent circuit diagram of the induction motor under the guidance of the rotor magnetic field. The fourth figure: shows the stator current vector diagram under appropriate conditions. Fifth figure: ΐΓ— 5.5kw three-phase induction servo motor stator inductance change percentage ratio vs. offset index /. Figure 6: Under the rotor time constant estimator, at a fixed speed of 15 a pair of 5.5kw three minus crane ship for a long time

Wei Zhongzheng wave side. ⑷ is the temperature rise trajectory of the stator frame, the constant red reference trajectory between t and ^, (c) is the Wei trajectory of the deviation index, and (e) is the recording command. ) For the change of virtual work 0. qs «Laboratory II 5.rw Two-phase induction motor for a long time (7〇18 Figure. (The temperature rise trajectory of the outer frame of the teardrop, ⑼ is the change trajectory of == in :, (°) is the loss_ The change trajectory (d) is the change trajectory of the difference frequency%, and (f) is the change trajectory of the virtual work 0. The intersection of the parent axis and the electrical axis

[Description of main symbols] 1 All-digital controller 11 Speed controller 12 Current controller 13 Rotor magnetic field speed and angle calculator 14 Rotor speed calculator 15 Precision rotor time constant estimator 2 Current-controlled PWM inverter 3 Current sensor 4 Voltage sensor 19 200531424 5 DC power supply 6 Three-phase induction servo motor 7 Incremental encoder 214 Rotor speed estimator Pick up and apply for patent scope: 1. A driving device with precise rotor field-oriented control Its features include a driving device composed of an all-digital controller, a conventional current-controlled PWM inverter, a conventional current sensor, and a conventional voltage sensor. The all-digital controller includes a Learn about speed control

A conventional current controller, a conventional rotor magnetic field speed and angle calculator, a conventional rotor speed calculator, and an accurate rotor time constant estimator; an accurate rotor time constant estimator uses a judging rotor The algorithm of whether the magnetic field steering is poorly adjusted to estimate and correct the rotor time constant in a timely manner; this algorithm includes the following steps: (1) Calculate the rotor magnetic field rotation speed and the equivalent of the actual input to the rotor magnetic field steering control The virtual work of the excitation inductance, and then normalize the aforementioned virtual work = value according to the nominal value of the virtual work in the rated excitation state, and use the normalized value as an offset index to determine whether the rotor magnetic field guidance is in a poorly adjusted state; ( 2) The magnetic field guidance of the 2-break rotor is in a normal state.

The calculation and update of the number ends the calculation step of the rotor time constant estimation; = ·! When the broken rotor magnetic field guidance is in a poorly adjusted state, the ^ + positive inductance is calculated according to the misalignment index, and the actual wire current and The ratio of the actual direct axis current is divided by the slip frequency to estimate the rotor time constant, and the reference value of the rotor time constant is updated based on it; κ must be matched with-DC power,-three-phase induction ship motor, with the term 项 Γ The described drive device with precise rotor magnetic field guidance control has its calculator 'and replaces all of the conventional rotor speedometer speed estimation benefits, and its input signal is 20 2 measured by the sensor

Claims (1)

200531424 5 DC power supply 6 Three-phase induction servo motor 7 Incremental encoder 214 Rotor speed estimator Pick up and apply for patent scope: 1. A driving device with precise rotor field-oriented control, which is characterized by an all-digital controller A conventional current-controlled PWM inverter, a conventional current sensor, and a conventional voltage sensor. The all-digital controller includes a conventional speed control. A conventional current controller, a conventional rotor magnetic field speed and angle calculator, a conventional rotor speed calculator, and an accurate rotor time constant estimator; an accurate rotor time constant estimator uses a judging rotor The algorithm of whether the magnetic field steering is poorly adjusted to estimate and correct the rotor time constant in a timely manner; this algorithm includes the following steps: (1) Calculate the rotor magnetic field rotation speed and the equivalent of the actual input to the rotor magnetic field steering control The virtual work of the excitation inductance, and then normalize the aforementioned virtual work = value according to the nominal value of the virtual work in the rated excitation state, and use the normalized value as an offset index to determine whether the rotor magnetic field guidance is in a poorly adjusted state; ( 2) The magnetic field guidance of the 2-break rotor is in a normal state. The calculation and update of the number ends the calculation step of the rotor time constant estimation; = ·! When the broken rotor magnetic field guidance is in a poorly adjusted state, the ^ + positive inductance is calculated according to the misalignment index, and the actual wire current and The ratio of the actual direct axis current is divided by the slip frequency to estimate the rotor time constant, and the reference value of the rotor time constant is updated based on it; κ must be matched with-DC power,-three-phase induction ship motor, with the term 项 Γ The drive device with precise rotor magnetic field-oriented control described above replaces all of the conventional rotor speedometer speed estimates with the __, and its input signal is 20 2 200531424 measured by the sensor. The phase voltage measured by the phase current and voltage sensor thus forms another driving device with precise rotor magnetic field guidance control without the need for an incremental encoder. twenty one