201015843 402 直流鏈電容 403 變頻模組 501 電流感測器 502 電流感測器 503 電流感測器 601 交流馬達本體 602 編碼器 五、 本案若有化學式時，請揭示最能顯示發明特徵的化學式： 六、 發明說明： 【發明所屬之技術領域】 本發明係關於一種應用於額定轉速以上具有弱 磁控制之交流馬達驅動器。 【先前技術】 交流馬達驅動裝置，包含驅動器及交流馬達。 " 驅動器則包含電力迴路與控制迴路兩部份。電力迴 路之主要架構則包含了：整流模組、直流鏈電容及 φ 變頻模組；整流模組可接受單相或三相市電電源之 輸入，並將交流電整流為具有漣波之直流電，而直 流鏈電容則提供具有漣波之直流電之濾波效果，並 作為變頻模組之輸入之用，而變頻模組則包含可提 供三相脈波電壓輸出之開關元件並連結到交流馬達 之輸入側，透過驅動器之控制迴路則可產生驅動信 號控制變頻模組中開關元件之切換。 交流馬達除了本體外，則包含耦接在相同轉軸 201015843 編'器，該編碼器可為增量型編碼器或絕對位 置31編碼。驅動器則根據編碼器所回授之轉子位 置及/或速度，經由轉速控制器產生位在q-軸座標上 之定子電流，其所建立的磁通與d_健標上之交流 馬達轉子磁通交互作用，藉此達到交流馬達之 控制。 父流馬達所產生之反電動勢與轉速成正比，當 轉速上升而直流鏈電容所提供的電壓不足以克服交 ，馬達所產生的反電動勢時，就會造成交流馬達在 尚速^轉的範圍上有所限制；如要使交流馬達操作 在更高的速度，一般而言，驅動器會調整d軸電流 來降低磁通，藉此克服高速下所產生的反電動勢並 可提升操作速度範圍，此方法也就是一般所稱的弱 磁控制。習知的弱磁控制法則[1]係根據轉速的大 小來產生一反比於d-軸電流大小的命令，但在此習 . 知技術下，並未考量驅動器輸出電壓是否達到最大 以及馬達額定電流的限制條件，故未能夠保證有效 Φ 達到最大直流鏈電壓之利用率及最大的輸出轉矩。 參考資料： [1]向量控制變頻器控制器參數自動調適法， 中華民國專利，案號：84113378。 【發明内容】 鑒於以上的問題，本發明主要目的在於提供一 201015843 種應用於交流馬達的弱磁控制及裝置其係利用交 流馬達變頻器之脈波寬度調變控制的切換週期與= 頻器控制計算所得之有效切換時間和的差值，經由 控制器即時產生調適磁化電流命令，達到最大直流 鏈電壓之利用率，使得交流馬達在超過額定轉ς 時，在該轉速下具有最大的輸出轉矩，藉以解決習 知技術中所存在的技術課題與潛在缺點。 因此，為達上述目的，本發明揭露一種利用空 間向量調變法則之有效電壓向量的有效切換時二 (τΑ、τΒ)來預測是否利用到最大的直流鏈電容電 壓，當τα+Τβ=Τζ，其中Τζ=脈波寬度調變控制 的切換週期，則代表目前直流鏈電容的電壓利用率 為最大。如果馬達在此情;兄下還要繼續提升 除了要持續符合τα+τβ=τκ條件外，還必須使用 弱磁控制的技術才能達成。 因此，為達上述目的，本發明揭露一種利用τ (脈波寬度調變控制的切換週期）來做為達到最大2 流鏈電容電壓利用率的參考命令，藉由其與 控制計算所得之有效㈣時間和（ΤΑ+ΤΒ)的差值 再經由一弱磁電流控制器及其後的限制器來產生d 2流命令之修正值，藉此可以自動調適d-軸電流 的大小來達到弱磁控制。 此外利用本發明揭露的方法與裝置，當+ 201015843 TB Tza^的電壓向量大小會大於最大線性區之電壓 向置大小，在此情況下則代表變頻器輸出電壓空間 向量軌跡會操作在最大極限的六邊形，故當定子電 μ大小在額定電流的限制下，則代表交流馬達操作 在最大電壓及最大電流之條件下工作，因此使交流 馬達在弱磁控制下具有最大輸出轉矩。 有關本發明的特徵與實作，茲配合圖示作最佳 實施例詳細說明如下。201015843 402 DC link capacitor 403 Frequency conversion module 501 Current sensor 502 Current sensor 503 Current sensor 601 AC motor body 602 Encoder 5. If there is a chemical formula in this case, please reveal the chemical formula that best shows the characteristics of the invention: [Technical Field] The present invention relates to an AC motor driver having a field weakening control applied above a rated rotational speed. [Prior Art] An AC motor drive device including a driver and an AC motor. The " drive contains both the power loop and the control loop. The main structure of the power circuit includes: rectifier module, DC link capacitor and φ inverter module; the rectifier module can accept the input of single-phase or three-phase mains power, and rectify the AC to DC with chopping, and DC The chain capacitor provides a filtering effect of chopping DC power and serves as an input for the frequency conversion module, and the frequency conversion module includes a switching element that provides a three-phase pulse voltage output and is coupled to the input side of the AC motor. The control loop of the driver can generate a drive signal to control the switching of the switching elements in the frequency conversion module. In addition to the external body, the AC motor is coupled to the same shaft 201015843, which can be an incremental encoder or an absolute position 31. The driver generates the stator current on the q-axis coordinate via the speed controller according to the rotor position and/or speed fed back by the encoder, and the established magnetic flux and the AC motor rotor flux on the d_jianjian Interaction to achieve control of the AC motor. The back electromotive force generated by the parent flow motor is proportional to the rotational speed. When the rotational speed rises and the voltage supplied by the DC link capacitor is insufficient to overcome the counter electromotive force generated by the motor, the AC motor will be in the range of the speed of the AC motor. There are restrictions; if the AC motor is operated at a higher speed, in general, the driver will adjust the d-axis current to reduce the magnetic flux, thereby overcoming the counter electromotive force generated at high speed and increasing the operating speed range. It is also known as weak magnetic control. The conventional weak magnetic control law [1] generates a command inversely proportional to the magnitude of the d-axis current according to the magnitude of the rotational speed, but in this known technique, it is not considered whether the output voltage of the driver reaches the maximum and the rated current of the motor. The limitation of the condition is that the effective Φ is not guaranteed to achieve the maximum DC link voltage utilization and the maximum output torque. References: [1] Vector control inverter controller parameter automatic adjustment method, Republic of China patent, case number: 84113378. SUMMARY OF THE INVENTION In view of the above problems, the main object of the present invention is to provide a 201015843 field weakening control and device for an AC motor, which utilizes a switching period of a pulse width modulation control of an AC motor frequency converter and a frequency converter control. Calculate the difference between the effective switching time sum and the controller to instantly generate the adaptive magnetizing current command to achieve the maximum DC link voltage utilization, so that the AC motor has the maximum output torque at the speed when the rated motor exceeds the rated transition. In order to solve the technical problems and potential shortcomings in the prior art. Therefore, in order to achieve the above object, the present invention discloses an effective switching time of the effective voltage vector of the space vector modulation law (τΑ, τΒ) to predict whether the maximum DC link capacitance voltage is utilized, when τα+Τβ=Τζ, The switching period of Τζ=pulse width modulation control represents the current voltage utilization of the DC link capacitor is the largest. If the motor is in this situation, the brother will continue to improve. In addition to continuing to meet the τα+τβ=τκ condition, it must be achieved using the technique of field weakening control. Therefore, in order to achieve the above object, the present invention discloses a reference command using τ (switching period of pulse width modulation control) as a reference command for achieving maximum 2 stream chain capacitance voltage utilization, which is effective by the control calculation (4). The difference between the time and (ΤΑ+ΤΒ) is further generated by a weak field current controller and a subsequent limiter to generate a correction value of the d 2 stream command, thereby automatically adjusting the magnitude of the d-axis current to achieve the field weakening control. . In addition, by using the method and device disclosed by the present invention, when the voltage vector size of + 201015843 TB Tza^ is greater than the voltage orientation of the maximum linear region, in this case, the inverter output voltage space vector trajectory will operate at the maximum limit. Hexagonal, so when the stator electric μ size is limited by the rated current, it means that the AC motor operates under the conditions of maximum voltage and maximum current, so the AC motor has the maximum output torque under field weakening control. The features and implementations of the present invention are described in detail with reference to the preferred embodiments.
【實施方式】 圖一係為本發明所揭露之交流馬達之弱磁控制 及裝置的向量控制系統架構圖，其主要組成由驅動 器之控制架構100、弱磁控制架構2〇〇、交流電源 300、驅動器之電力迴路架構4〇〇、電流感測器 501〜503及交流馬達本體與編碼器6〇1〜6〇2。[Embodiment] FIG. 1 is a structural diagram of a vector control system of a field weakening control and device of an AC motor disclosed in the present invention, which mainly comprises a control structure 100 of a driver, a field weakening control structure 2, an AC power source 300, The power circuit structure of the driver, the current sensors 501 to 503, and the AC motor body and the encoders 6〇1 to 6〇2.
交流馬達驅動器欲達到交流馬達之向量控制架 構1〇(Μ系利用編碼H 602來獲得交流馬達位置相關 資訊’透過計數器182則可將編碼器之資訊轉換成 父流馬達之轉子所在角度/轉速。此角度可做為第一 座標轉換器161及第二座標轉換器162之座標轉換 使用，再透過速度估測器181，則可獲得交流馬達 之速度回授資訊。電流感測器5〇1〜5〇3回授馬達之 三相電流iu、丨¥及iw，透過第二座標轉換器162，將 201015843 一相靜止座標之變數轉換成兩相同步旋轉座標之變 數4及ς，再回授到第一減法器121及第三減法器 123與電流命令相減，經由d軸電流控制器⑶及 q-軸電流控制器133做調整；此兩控制器之輸出再 透過第二加法器112及第三加法器113加入電壓解 搞補償H 150之補償值，再經由第一座標轉換器將 兩相同步旋轉座標之變數ν;·及 < 轉換成兩相靜止座 標之變數以獲得空間向量調變器丨7〇的電壓空間向 φ 量命令。電壓空間向量命令與區間（Sector)的關係如 圖二A所示；電壓空間向量位在第一區間 之示意圖如圖二B所示；對照第2B圖所合成之電 壓向量之開關切換時序與TA、Tb及Tz之示意圖如 圖二C所示，其中心及丁8分別為有效切換時間， Tz則為脈波寬度調變控制的切換週期，τζ = 1/(KTS)，Ts=脈波寬度調變控制的取樣週期，κ = 常數。最後，為將市電端的能量送至交流馬達本體 _ 601 ’從交流電源300開始輸入，經過整流模組401 將交流電整流成具有漣波之直流電並透過直流鏈電 容402濾波，再利用空間向量調變器170輸出控制 訊號至變頻模組403中驅動開關元件做直流電能量 的轉換。 在完整的速度模式下，有交流馬達之轉速ω與轉 速命令叫•經由第二減法器122並透過轉速控制器132 做調整，而該控制器的輸出則連結到第一限制器 201015843 142’可做為軸電流命令及輸出轉矩的限制關於 該限制器之限制值可由第一限制器限制值計算器 2〇7來計算得到’豸免驅動器或馬達操作在額定電 流（最大電流）以上。 本發明所揭露之弱磁控制架構2〇〇，係指回授空 間向量調變器170之有效電壓向量的有效切換時= 和/(Ta+Tb)，經過低通濾波器2〇4將其高頻訊號濾 除後，並與脈波寬度調變控制的切換週期（Tz)並透 過第四減法器203做相減比較，再透過一弱磁電流 控制器202來做調整，其後並加上第二限制器2〇1 用以確保當ΤΑ+ΤΒ=ΤΖ時，該限制器之輸出為一負值 之大小來作為d-轴電流命令之修正值並限制d_ 軸電流不會超過交流馬達額定電流之大小。最後， 第二限制器之輸出再與原始d_軸電流命令4•經由第 一加法器206相加，作為一真正的d_軸電流命令參 考值。關於空間向量調變法則之電壓向量所組成之 最大限制範圍與最大線性範圍如圖二A所示，當 Ta+Tb=Tz時，則代表電壓向量目前是在最大限制範 圍的六角形軌跡上旋轉，因此電壓利用率較最大線 性範圍之圓形區間為大。 本發明所揭露的之交流馬達的弱磁控制及裝置 之向量控制系統的模擬結果如三所示，當交流馬達 轉子速度達額定轉速（1 0pU)以上時，此時ΤΑ+τΒ之 201015843 大小增加至為Τζ (1.0 pu)時，弱磁控制架構就會發 生動作，因而可由圖中看出d-轴電流命令之修正值 此時開始隨速度上升而往負值增加，藉以維持直 流鏈電容之最大電壓利用率並可克服交流馬達反電 動勢的增加；當轉速趨於穩定後’反電動勢也不再 變化’故該修正值也會隨之穩定。 【圖式簡單說明】 泰 係本發明所揭露之具有弱磁控制及裝置交流馬 達的向量控制系統架構圖。 圖二A圖〜第二C圖係為在靜止座標下之空間向量 調變法則之電壓空間向量圖、空間向量調變的電壓 向量合成圖及空間向量調變的脈波形式圖。 圖三係為本發明所揭露之交流馬達的弱磁控制及裝 置向量控制系統的模擬結果 0 【主要元件符號說明】 100 驅動器之控制架構 200 弱磁控制架構 300 交流電源 400 驅動之電力迴路架構 112 第二加法器 113 第三加法器 121 第一減法器 122 第二減法器 201015843The AC motor driver wants to achieve the vector control architecture of the AC motor. (Μ Use the code H 602 to obtain information about the position of the AC motor. The counter 182 can convert the information of the encoder into the angle/speed of the rotor of the parent motor. This angle can be used as the coordinate conversion of the first coordinate converter 161 and the second coordinate converter 162, and then transmitted through the speed estimator 181, the speed feedback information of the AC motor can be obtained. The current sensor 5〇1~ 5〇3 feedback motor three-phase currents iu, 丨¥ and iw, through the second coordinate converter 162, the 201015843 one-phase stationary coordinate variable is converted into two-phase synchronous rotating coordinate variable 4 and ς, and then returned The first subtractor 121 and the third subtractor 123 are subtracted from the current command, and are adjusted by the d-axis current controller (3) and the q-axis current controller 133; the outputs of the two controllers are transmitted through the second adder 112 and the first The three adder 113 adds the compensation value of the voltage solution compensation H 150, and converts the variable ν of the two-phase synchronous rotation coordinate via the first coordinate converter; and < converts the variable of the two-phase stationary coordinate to obtain the space. The voltage space of the vector modulator 丨7〇 is commanded by the φ quantity. The relationship between the voltage space vector command and the sector is shown in Fig. 2A; the schematic diagram of the voltage space vector bit in the first interval is shown in Fig. 2B; The switching timing of the voltage vector synthesized in comparison with Figure 2B and the schematic diagrams of TA, Tb and Tz are shown in Figure 2C. The center and D8 are respectively effective switching times, and Tz is the switching of pulse width modulation control. Period, τ ζ = 1 / (KTS), Ts = sampling period of pulse width modulation control, κ = constant. Finally, in order to send the energy of the mains terminal to the AC motor body _ 601 ' input from the AC power source 300, after rectification The module 401 rectifies the alternating current into a DC power with chopping and filters through the DC link capacitor 402, and then uses the space vector modulator 170 to output a control signal to the driving switch element in the frequency conversion module 403 to convert the DC energy. In the mode, the rotational speed ω and the rotational speed command of the AC motor are adjusted via the second subtractor 122 and transmitted through the rotational speed controller 132, and the output of the controller is coupled to the first limiter 201. 015843 142' can be used as the limit of the shaft current command and the output torque. The limit value of the limiter can be calculated by the first limiter limit value calculator 2〇7 to obtain the 'reduced drive or motor operation at the rated current (maximum current) The weak magnetic control architecture disclosed in the present invention refers to the effective switching of the effective voltage vector of the feedback space vector modulator 170 = and / (Ta + Tb), after passing through the low pass filter 2 4 filtering the high frequency signal, and performing a subtraction comparison with the switching period (Tz) of the pulse width modulation control through the fourth subtractor 203, and then adjusting through a weak magnetic current controller 202, The second limiter 2〇1 is added to ensure that when ΤΑ+ΤΒ=ΤΖ, the output of the limiter is a negative value as the correction value of the d-axis current command and the d_axis current is not limited. Exceeds the rated current of the AC motor. Finally, the output of the second limiter is added to the original d_axis current command 4 via the first adder 206 as a true d_axis current command reference. The maximum limit range and maximum linear range of the voltage vector of the space vector modulation law are shown in Fig. 2A. When Ta+Tb=Tz, the voltage vector is currently rotated on the hexagonal track of the maximum limit range. Therefore, the voltage utilization ratio is larger than the circular interval of the maximum linear range. The simulation result of the field weakening control and device vector control system of the AC motor disclosed in the present invention is as shown in the third example. When the AC motor rotor speed reaches the rated speed (10 pU) or more, the size of ΤΑ+τΒ 201015843 increases. When it is Τζ (1.0 pu), the field weakening control structure will act. Therefore, it can be seen from the figure that the correction value of the d-axis current command starts to increase with the speed and increases to a negative value, thereby maintaining the DC link capacitance. The maximum voltage utilization can overcome the increase of the back electromotive force of the AC motor; when the speed is stabilized, the 'back electromotive force does not change anymore', so the correction value will also be stable. BRIEF DESCRIPTION OF THE DRAWINGS The architecture of a vector control system having a field weakening control and a device AC motor disclosed in the present invention is shown. Figure 2A to Figure 2C are the voltage space vector diagram of the space vector modulation law under the static coordinate, the voltage vector synthesis diagram of the space vector modulation, and the pulse wave form diagram of the space vector modulation. Figure 3 is the simulation result of the field weakening control and device vector control system of the AC motor disclosed in the present invention. [Main component symbol description] 100 drive control architecture 200 weak magnetic control architecture 300 AC power supply 400 Drive power loop architecture 112 Second adder 113 third adder 121 first subtractor 122 second subtractor 201015843
123 第三減法器 131 d-軸電流控制器 132 轉速控制器 133 q-軸電流控制器 142 第一限制器 150 電壓解耦補償器 161 第一座標轉換器 162 第二座標轉換器 170 空間向量調變器 181 速度估測器 182 計數器 201 第二限制器 202 弱磁電流控制器 203 第四減法器 204 低通濾、波器 205 第四加法器 206 第一加法器 207 第一限制器限制值計算器 401 整流模組 402 直流鏈電容 403 變頻模組 501 電流感測器 502 電流感測器 503 電流感測 601 交流馬達本體 602 編碼 七、申請專利範圍： 1. 一種交流馬達驅動器弱磁控制方法，該方法係利用脈123 Third Subtractor 131 d-axis Current Controller 132 Speed Controller 133 q-axis Current Controller 142 First Limiter 150 Voltage Decoupling Compensator 161 First Benchmark Converter 162 Second Coordinate Converter 170 Space Vector Tuning Converter 181 speed estimator 182 counter 201 second limiter 202 field weakening current controller 203 fourth subtractor 204 low pass filter, waver 205 fourth adder 206 first adder 207 first limiter limit value calculation 401 rectifier module 402 DC link capacitor 403 frequency conversion module 501 current sensor 502 current sensor 503 current sensing 601 AC motor body 602 code seven, the scope of patent application: 1. AC motor driver weak magnetic control method, The method uses the pulse