經濟部中央標準局員工消费合作杜印製Printed by the Central Bureau of Standards of the Ministry of Economic Affairs
If r 441 1 6 ^ A7 _____B7__________ 五、發明説明（/ ) [產業上之應用領域與習用技術] 本發明係一種具有線上參數調適之無量測感應馬達速度控制裝置 與法則’尤指針對一可變速感應馬達之變頻器驅動系統，所提出之無 翻憾應馬達速度控制裝置與法則。 傳統可變速感應馬達之變頻器驅動系統，一般採用泛用型開迴路 變頻器：係以定電壓/頻率(V/f)比之控制方式驅動控制馬達， 會Μ艮容易的驅動感應馬達改變轉速，目前被廣泛的應用於工業 上’它具有體積小、價位低及不須加裝速度感測器等優點《然 而它存在下列幾個問題：（1)起動轉矩受到限制：（2)響應速度 較慢；（3)無法精確的控制馬達轉速，因此僅適用於機械運動 性能要求不高的場合》 採向量控制法的閉迴路變頻器，可改善上述開迴路變頻器 的缺點，達到髙性能的速度控制要求，但閉迴路變頻器須加裝 速度感測器來量測馬達的轉速做爲系統的迴授量，感應馬達加 裝速度感測器後，喪失了感應馬達機構簡單、穩健及低價位等 優點，如此降低了感應馬達閉迴路變頻器的應用範疇。 馬達閉迴路向量控制變頻器，其向量控制法則之計算能否 準確，直接受馬達的電氣參數之影響。一般馬達的電氣參數是 在離線(off-line)時量測，雖可獲得精確之電氣參數値，但當馬 達再加載或長時間運轉時溫度上昇，將造成馬達電阻參數的變 動，若無法在線上(on-line)做馬達電阻參數調適，將使閉迴路 本紙張尺度適用中國國家橾準（CNS ) A4規格（21〇><297公釐） t锖先閲讀背面之注意事項再填寫本頁) -訂 經濟部中央標準局貝工消费合作社印製 ^ 4 4 1 16' a? B7 五、發明説明（2) 變頻器的精確度及穩定性變差。 有鑑於上述之情形本發明之創作人乃發展出具有線上參數調 適之無量測感應馬達速度控制裝置與法則。利用所提出之同步轉速估 測器，不須加裝速度偵測器，即可提供感應馬達向量控制變頻器所需之轉 速回授訊號;藉由所提出之轉子電阻估測器可做線上轉子電阻參數調 適，能降低馬達在加載或長時間運轉時，因溫昇造成之馬達電阻參數 變動所造成之系統響應誤差及不穩定。使得系統兼具傳統泛用型 開迴路變頻器簡單低價位及閉迴路變頻器之高性能等優點° [發明槪述] 本發明之主要目的，係在提出一種感應馬達同步轉速估測法。使 其在於一感應馬達基本向量控制架構下，估測出感應馬達同步轉速以 供變頻器做速度回授訊號，進而達到無量測感應馬達向量控制變頻器 之目的。 本發明之另一目的，係在提出一種感應馬達定子及 法°使其於一感應馬達基本向量控制架構下，在線上即時估測出感應 馬達電阻參數以供變頻器做線上參數調適，使無量測感應馬達向量控 制變頻器不受馬達溫昇之影響。 本發明之次一目的，在於使無量測感應馬達向量控制變頻器達到 泛用之目的。本發明所提具有線上參數調適之無量測感應馬達變頻器 驅動系統-不需加感測器及賴偵測器。 緣是，爲達上述之目的，本發明所提具有線上參數調適之無量測 本紙張尺度適用中國國家標準（CNS ) Α4規格（2丨0X297公釐） (諳先閲讀背面之注項再填寫本頁)If r 441 1 6 ^ A7 _____B7__________ 5. Description of the invention (/) [Industrial application fields and conventional technologies] The present invention is a non-measurement induction motor speed control device and rule with online parameter adjustment. The inverter drive system of the variable speed induction motor has no regrets for the proposed motor speed control device and rules. Inverter drive systems of traditional variable-speed induction motors generally use general-purpose open-loop inverters: they drive and control the motor with a constant voltage / frequency (V / f) ratio control method, which will easily drive the induction motor to change the speed At present, it is widely used in industry. It has the advantages of small size, low price, and no need to install a speed sensor. However, it has the following problems: (1) the starting torque is limited: (2) the response The speed is slow; (3) The motor speed cannot be controlled accurately, so it is only suitable for occasions with low requirements for mechanical motion performance. The closed-loop inverter using the vector control method can improve the shortcomings of the open-loop inverter and achieve high performance. Speed control requirements, but the closed-loop frequency converter must be equipped with a speed sensor to measure the speed of the motor as the system's feedback. After the induction motor is equipped with a speed sensor, the induction motor mechanism is simple, robust and The advantages of low price and so on reduce the application scope of the induction motor closed-loop inverter. Motor closed-loop vector control inverter, whether the calculation of its vector control rule is accurate, is directly affected by the electrical parameters of the motor. Generally, the electrical parameters of the motor are measured off-line. Although accurate electrical parameters can be obtained, when the motor is reloaded or run for a long time, the temperature will increase, which will cause the motor resistance parameters to change. On-line adjustment of the motor resistance parameters will make the closed-loop paper size applicable to the Chinese National Standard (CNS) A4 specification (21〇 > < 297mm) t 锖 Read the precautions on the back before filling (This page)-Printed by the Central Standards Bureau of the Ministry of Economic Affairs and printed by the Shellfish Consumer Cooperative ^ 4 4 1 16 'a? B7 V. Description of the invention (2) The accuracy and stability of the frequency converter have deteriorated. In view of the above circumstances, the creator of the present invention has developed a non-measurement induction motor speed control device and rules with online parameter adjustment. Using the proposed synchronous speed estimator, the speed feedback signal required by the induction motor vector control inverter can be provided without installing a speed detector; the on-line rotor can be made by the proposed rotor resistance estimator Adjusting the resistance parameter can reduce the system response error and instability caused by the change of the motor resistance parameter due to temperature rise when the motor is loaded or running for a long time. It makes the system have the advantages of both the simple and low price of the traditional universal open-loop inverter and the high performance of the closed-loop inverter. [Invention] The main purpose of the present invention is to propose a method for estimating the synchronous speed of an induction motor. It is based on the basic vector control architecture of the induction motor, and estimates the synchronous speed of the induction motor for the speed feedback signal of the inverter, thereby achieving the purpose of measuring the vector control inverter without induction motor. Another object of the present invention is to propose an induction motor stator and a method for real-time estimation of the resistance parameters of the induction motor on the line under the basic vector control architecture of the induction motor for the inverter to adjust the parameters online, so that The vector control inverter for measuring induction motor is not affected by the temperature rise of the motor. A second object of the present invention is to make the non-measurement induction motor vector control inverter achieve universal use. The non-measurement induction motor inverter drive system with online parameter adjustment provided by the present invention-no need to add a sensor or a detector. The reason is that in order to achieve the above-mentioned purpose, the non-measurement paper with online parameter adjustment provided by the present invention is applicable to the Chinese National Standard (CNS) Α4 specification (2 丨 0X297 mm) (谙 Please read the notes on the back before filling (This page)
,1T 經濟部中央標準局貝工消費合作社印製 ^ 441 1^ 1 " A7 _B7_ 五、發明説明（3 ) 感應馬達速度控制裝置與法則，其方法步驟包括：⑻提供一馬達；（b) 提供一馬達基本向量控制架構，其係用以作爲執行控制該馬達轉速之 向量控制裝置與法則則；⑻另具正弦調變(Sinusoidal Pulse-width Modulation, SPWM)功能之一變頻器以作爲該所驅動馬達電源供應：（d) 使該座標運算方塊A用以將該馬達之一定子量測値轉換成一轉子磁場 座標系統(d-q)軸之一兩軸分量；㈦使該座標運算方塊B用以將該轉子 磁場座標系統之一 d軸定子電壓標的値與一 q軸定子電壓標的値轉換 成輸入一正弦波寬調變(SPWM)變頻器之一三相輸入之電壓標的値：（0 使同步轉速估測器能正確估測出感應馬達同步轉速以供電阻估測器及 速度回授訊號使用：（g)使電阻估測器能正確估測出感應馬達轉子電阻 以供轉子麵麵使用。 本發明之特徵、目的及優點。將因下面參照附圖對本發明之各種 實施例所做之詳細說明得一具體淸晰之瞭解。 (圖面之簡述） 第一圖所示係爲具參數調適之無量測感應馬達驅動系統架構圖。 第二圖所示係爲同步轉速估測器方塊圖。 第三圖所示係爲定子及轉子電阻估測器方塊圖。 第四圖所示係爲第一圖之電腦模擬與實際硬體製作所量測之馬達轉 速、定子電阻及Α相電流之波形圖。 [發明之詳細說明] 請參考第一圖，此圖係爲具參數調適之無量測感應馬達驅動系統架構 本紙張尺度適用中國阖家標準（CNS )八4说格（210X297公釐） (請先聞讀背面之注意事項再填寫本頁) 訂 1^·I . 經濟部中央標隼局貝工消費合作社印製 fr 44 Η β 1 Α7 Β7五、發明説明（4·) 圖：採用磁場導向量控制。由圖中可了解本架構中一感應馬達(1)^由一電 壓型弦波脈寬調變(SPWM)的變頻器(2)所驅動’整個控制法則在經由一座 標轉換方塊A⑶及一座標轉換方塊B⑷轉換處理後，使馬達向量控制系統 在轉子磁場導向(r〇t〇r-flux-oriented)同步轉速參考座標下執行運算。該控制 法則包括：用以估測轉子磁通大小及轉速差之—轉子磁通模型(5)、可使磁 通(d-軸)與轉速控制迴路(q-軸)得以分開獨立控制之一解耦控制器⑹、使q 軸電流響應達到規格要求之一 q軸電流控制器(7)'使d軸電流眷應達到規 格要求之一 d軸電流控制器(8)，使轉子磁通響應達到規格要求之一磁通控 制器(9)、使轉速達到規格要求之一轉速控制器(1〇)、使該感應馬達能在基 速(4極爲1800rpm)以下用定轉矩運轉’在基速以上用定功率運轉之一弱 磁控制器(〗1) '能正確估測出馬達之轉子磁場同步轉速之一同步轉速估測 器(12)及能正確估測出馬達之定子電阻與轉子電阻參數之一電阻估測器 (13);其中，除了該速度控制器(1〇)之參數的調適與馬達機械負載參數有 關之外’其餘各控制器之參數均依該感應馬達之電氣參數而定。 當然，其中該馬達係爲一感應馬達(I.M.)。 當然，其中該向量變頻器控制法則係以場導(field orientation)原理爲基 礎。 當然，其中該變頻器內具一中央處理單元(CPU)，該中央處理單元可 完成所有馬達讎器運算工作 > 不需外加量測儀器或個人電腦執行。 當然，其中該同步轉速估測器，採用參考模型適應系統法(MRAS)估測 出馬達同步轉速，參考模型使用轉子磁場座標上之電流及電壓命令値計算 11 I I "7* I 訂—— ^ {請先Η讀背面之注意事項再填产'頁) 本紙張尺度適用中國國家榇準（CNS ) Α4規格（210X297公釐） 經濟部中央標準局貝工消费合作社印製 -441161 A7 B7五、發明説明（5 ) 出馬達之無效功率，可調模型使用轉子磁場座標上之電流、定子電感、定 子漏電感及同步轉速計算出馬達之無效功率。 當然，其中該電阻估測器，採用參考模型適應系統法(MRAS)估測出馬 達定子電阻及轉子電阻，參考模型使用轉子磁場座標上之電流及電壓命令 値計算出馬達之實功率，可調模型使用轉子磁場座標上之電流、定子電感、 定子漏電感、同步轉速及定子電阻計算出馬達之實功率。定子電阻之估測 値乘上轉子與定子電阻之初値比可得轉子電阻之估測値。 請參考第二圖，此圖係本發明之同步轉速估測器方塊圖；採用參考模 型適應系統法(MRAS)估測出馬達同步轉速，參考本圖可知本發明之佶測 過程如下： 1. 圖中之參考模型(201)，使用轉子磁場座標上之q軸電壓命令値 ν“·(204)、d軸韻命令値v;(205) ' q軸電流値（(206)及d軸電流値 4(207)，可依下列方程式計算出馬達之無效功率0 » 2. 圖中之可調模型(202)，使用轉子磁場座標上之q袖電流値 ((206)、d軸電流値C(2〇7)、定子電感4(208)、定子漏電感呔(209)及 同步轉速砍(210)，可依下列方程式計算出馬達之無效功率g。 Q = 4[σ4(/；)2 + 4(C)2] + ir^K - 3. 圖中之參考模型(201)及可調模型(202)之輸出誤差値，貝tl用以 驅動一 PI控制器(203)可得估測之同步轉速也(210)，此同步轉速又送回可 I I I 訂；I I ^ 線 I- (請先閱讀背面之注^W'項再填产(頁) 本紙張尺度適用中國國家棣準（CNS ) A4規格（210X297公釐） 經濟部中央棣準局貝工消費合作社印製 1^ -4 4 I i ^ ^ A7 _B7___ 五、發明説明（6 ) 調模型改變無效功率0，使可調模型(202)之輸出0趨近於參考模型(201) 之輸出β，則同步轉速之估測値允(210)趨近於實際値。 請參考第三圖’此圖係本發明之電阻估測器方塊圖：採用參考模型適 應系統法(MRAS)估測出馬達定子電阻與轉子電阻，參考本圖可知本發明 之估測過程如下： 1. 圖中之參考模型(301)，使用轉子磁場座標上之q軸電壓命令値 </(304)、d軸電壓命令値vf(305)、q軸電流値（(306)及d軸電流値 ^(307)，可依下列方程式直接計算出馬達之實功率P。 尸= ν:·ς+ν;·ς 2. 圖中之可調模型(302)，使用轉子磁場座標上之q軸電流値 & (306)、d軸電流値C (307)、定子電感4(308)、定子漏電感<(309)、 同步轉速叫(310)及定子電阻之估測値先(311)，可依下列方程式計算出 馬達之實功率P 〇 p=^t[〇；)2 +(/；)2]+^e(4 3. 將圖中之參考模型(301)及可調模型(3〇2)之輸出誤差値Ρ-Ρ，用 以驅動一ΡΙ控制器(303)可得估測之定子電阻之(Ml)，此同步轉速又送回 可調模型改變實功率 >，使可調模型(302)之輸出/趨近於參考模型(301) 之輸出户，則定子電阻之估測値先趨近於實際値。 4. 馬達之定子電阻與轉子電阻對溫度之逋敏度可視爲相同，將定子 本紙張尺度適用中國國家標準（CNS ) A4規格（2IOX297公釐） I 扣本 I I __ n Iΐτ.— I I I I I 棘 (請先閲讀背面之注意事項再填Ϊ*.頁) 經濟部中央標準扃貝工消費合作社印製 441161 五、發明説明（了） 電阻之估測値夂(311)乘上轉子與定子電阻之初値比^(312),可得轉子, 1T Printed by the Shellfish Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs ^ 441 1 ^ 1 " A7 _B7_ V. Description of the invention (3) Induction motor speed control device and rules, the method steps include: (1) providing a motor; (b) Provide a basic motor vector control architecture, which is used as a vector control device and rules for controlling the speed of the motor. ⑻ Another inverter with sinusoidal pulse-width modulation (SPWM) function is used as the institute. Power supply of driving motor: (d) The coordinate calculation block A is used to convert a stator measurement of the motor into a two-axis component of a rotor magnetic field coordinate system (dq) axis; and the coordinate calculation block B is used to Convert the 轴 of the d-axis stator voltage scale of the rotor magnetic field coordinate system and the 値 of a q-axis stator voltage scale into the voltage scale of the input three-phase input of a sine wave width modulation (SPWM) inverter: (0 to synchronize The speed estimator can correctly estimate the synchronous speed of the induction motor for the resistance estimator and the speed feedback signal: (g) enable the resistance estimator to correctly estimate the rotor resistance of the induction motor for The use of the rotor surface. The features, objects and advantages of the present invention will be clearly understood from the following detailed description of various embodiments of the present invention with reference to the drawings. (Brief description of the drawings) The diagram shows the architecture of a non-measurement induction motor drive system with parameter adjustment. The second diagram shows the block diagram of the synchronous speed estimator. The third diagram shows the block diagram of the stator and rotor resistance estimator. The four diagrams are the waveform diagrams of the motor speed, stator resistance, and phase A current measured by the computer simulation of the first diagram and the actual hardware production. [Detailed description of the invention] Please refer to the first diagram. Parameter-adjusted non-measurement induction motor drive system architecture This paper size is in accordance with China Standards (CNS) 8 and 4 (210X297 mm) (Please read the precautions on the back before filling this page) Order 1 ^ · I Printed by the Central Bureau of Standards, Ministry of Economic Affairs, Shellfish Consumer Cooperative, fr 44 Η β 1 Α7 Β7 V. Description of the invention (4 ·) Figure: Magnetic field guided vector control. From the figure, you can understand an induction motor in this architecture (1) ^ Pulse width modulation by a voltage-type sine wave (SPWM) inverter (2) drives the entire control law through a standard conversion block ACD and a standard conversion block B⑷ conversion processing, so that the motor vector control system is guided in the rotor magnetic field (r〇t〇r-flux- oriented) Synchronous rotational speed is performed under reference coordinates. This control rule includes: the rotor flux model (5) used to estimate the magnitude of the rotor magnetic flux and the difference in rotational speed, the magnetic flux (d-axis) and the speed control loop ( q-axis) is a decoupling controller that can be separated and controlled independently, so that the q-axis current response meets one of the specifications. q-axis current controller (7) 'enables the d-axis current to meet one of the specifications. d-axis current control The controller (8) makes the magnetic flux response of the rotor meet one of the specifications, a magnetic flux controller (9), the speed of the rotor reaches one of the specifications, a speed controller (10), and enables the induction motor to operate at a base speed (4 to 1800rpm) ) The following operation with constant torque is one of the field weakening controllers that operate at a constant power above the base speed (〗 1). It can correctly estimate the synchronous speed estimator (12) of one of the rotor magnetic field synchronous speeds and the Correctly estimate one of the stator resistance and rotor resistance parameters of the motor. Estimator (13); wherein, in addition to the parameters of the speed controller (1〇) Adjustment of the mechanical load of the motor parameters relevant 'remaining parameters of the controllers are following the sensing of the electrical parameters of the motor may be. Of course, the motor is an induction motor (I.M.). Of course, the vector inverter control law is based on the field orientation principle. Of course, there is a central processing unit (CPU) in the inverter, which can complete all the calculations of motors and motors. ≫ No additional measuring instrument or personal computer is needed. Of course, the synchronous speed estimator uses the reference model adaptive system method (MRAS) to estimate the synchronous speed of the motor. The reference model uses the current and voltage commands on the rotor magnetic field coordinates to calculate 11 II " 7 * I Order—— ^ {Please read the precautions on the back before filling in the production page) This paper size applies to China National Standards (CNS) Α4 size (210X297 mm) Printed by the Central Standards Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperatives -441161 A7 B7 5. Description of the invention (5) The reactive power of the motor is calculated. The adjustable model calculates the reactive power of the motor by using the current on the rotor magnetic field coordinates, the stator inductance, the stator leakage inductance, and the synchronous speed. Of course, the resistance estimator uses the reference model adaptive system method (MRAS) to estimate the motor stator resistance and rotor resistance. The reference model uses the current and voltage commands on the rotor magnetic field coordinates to calculate the real power of the motor, which is adjustable. The model uses the current on the rotor magnetic field coordinates, stator inductance, stator leakage inductance, synchronous speed, and stator resistance to calculate the real power of the motor. Estimate of stator resistance 値 Multiply the initial ratio of rotor and stator resistance to get the estimate of rotor resistance. Please refer to the second figure, which is a block diagram of the synchronous speed estimator of the present invention; the reference model adaptive system method (MRAS) is used to estimate the synchronous speed of the motor. Referring to this figure, the speculative process of the present invention is as follows: 1. The reference model (201) in the figure uses the q-axis voltage command 値 ν "· (204) and the d-axis rhyme command 値 v; (205) 'q-axis current 値 ((206) and d-axis current値 4 (207), the reactive power of the motor can be calculated according to the following equation: 0 »2. Adjustable model (202) in the figure, using q sleeve current 上 ((206), d-axis current 値 C (207), stator inductance 4 (208), stator leakage inductance 209 (209), and synchronous speed chopping (210), the reactive power g of the motor can be calculated according to the following equation. Q = 4 [σ4 (/;) 2 + 4 (C) 2] + ir ^ K-3. The output error of the reference model (201) and adjustable model (202) in the figure 値, which can be estimated by using tl to drive a PI controller (203) The synchronous speed is also (210), and this synchronous speed can be returned to order III; II ^ Line I- (Please read the note ^ W 'on the back before filling (Page) This paper size applies to China National Standard (CNS) ) A4 specifications (2 10X297mm) Printed by the Central Labor Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperative, 1 ^ -4 4 I i ^ ^ A7 _B7___ V. Description of the invention (6) The tuning model changes the invalid power 0 to make the output of the adjustable model (202) 0 is closer to the output β of the reference model (201), then the estimation of the synchronous speed (210) is closer to the actual value. Please refer to the third figure 'This figure is a block diagram of the resistance estimator of the present invention: using The reference model adaptive system method (MRAS) estimates the motor stator resistance and rotor resistance. With reference to this figure, the estimation process of the present invention is as follows: 1. The reference model (301) in the figure uses the q-axis voltage on the rotor magnetic field coordinates. The command 値 < / (304), the d-axis voltage command 値 vf (305), the q-axis current 値 ((306), and the d-axis current 値 ^ (307), can directly calculate the real power P of the motor according to the following equation. Dead = ν: · ς + ν; · ς 2. The adjustable model (302) in the figure uses the q-axis current 値 & (306), d-axis current 値 C (307), and stator inductance in the rotor magnetic field coordinates. 4 (308), stator leakage inductance < (309), synchronous speed is called (310), and the estimation of stator resistance is first (311). The actual motor can be calculated according to the following equation Rate P 〇p = ^ t [〇;) 2 + (/;) 2] + ^ e (4 3. Change the output error of the reference model (301) and the adjustable model (302) in the figure 値- P is used to drive an estimated stator resistance (Ml) of a PI controller (303). This synchronous speed is sent back to the adjustable model to change the real power >, so that the output / trend of the adjustable model (302) If the output is closer to the reference model (301), the estimation of the stator resistance will first approach the actual value. 4. The stator resistance of the motor and the resistance of the rotor resistance to temperature can be regarded as the same. The paper size of the stator is applicable to the Chinese National Standard (CNS) A4 specification (2IOX297 mm). I withdraw II __ n Iΐτ.— IIIII thorn ( Please read the notes on the back first and then fill in the *. Page) Central Standard of the Ministry of Economy 扃 Printed by Shellfish Consumer Cooperative Co., Ltd. 441161 V. Description of the invention (Estimation of resistance) (311) Multiplied by the resistance of the rotor and stator 値Ratio ^ (312), we can get the rotor
KsO 電阻之估測値夂(313)。 又，第四圖所示爲第一圖之電腦模擬及實際硬體製作所量得之馬達轉 速、定子電阻及A相電流波形圖。馬達系統轉速命令爲+200〜-200rpm ’ 時間由1.5sec.到6.5sec.時在馬達定子上外加1Ω之電阻》第四圖(a) 部分係爲電腦模擬所得之馬達轉速波形圖；第四圓(b)部分係爲實際硬體製 作所量測之馬達實際轉速波形圖；第四圖⑹部分係爲«腦模擬所得之馬達 定子電阻與估測値波形圖；第四圖(d)部分係爲實際硬體製作所量測之馬達 定子電阻與估測値波形圖；第四圖(e)部分係爲電腦模擬所得之A相電流 波形圖；第四圖(〇部分係爲實際硬體製作所量測之A相電流波形圖。由模 擬及實做結果顯示，本發明所提具參數調適之無量測感應電機驅動系 統，能正確估測出定子電阻並間接估測出轉子電阻，再對轉子磁 通模型之參數做線上調適，使系統不受溫度靈敏參數之影響獲得 更精確及穩健之特性，印證了本發明所提理論的正確及可行性。 綜上所述，本發明所提出之無量測感應馬達驅動系統，與其他系統比 較具有以下特點：（1)本發明所提出之無童測感應馬達向量控制變頻器，不 需外加速度及電壓感測器與泛用型開迴路變頻器相同：（2)同步轉速及電 阻估測器之側工作實現簡單，可由原變頻器之中央處理單元(CPU)完成， 不需外加量測儀器或個人電腦；（3)感應馬達同步轉速估測器，使用之電氣 參數爲定子電感6與定子漏電感成,沒有定子電阻與轉子電阻，使估測器 不受馬達溫昇之影響更爲精確及穩健；（4)可在線上即時估測出感應馬達電 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐} — (請先閲讀背面之注意事項再填农.頁) -a· r^-44 i 1 ^ 1 A7 B7 五、發明説明（8) p且參數以供變頻器做線上參數調適，使無量測感應馬達向量控制變頻器不 受馬達溫昇之影響，使系統更爲精確及穩健。 惟，上述本發明所揭露之圖式說明|僅爲本發明之可行實施例，大凡 熟悉本發明技藝之人士，其所沿依本發明精神範疇，所做之等效變化或修 飾，皆應涵蓋在以下本發明之申請專利範圍。 裝 : 訂- < 線 · (請先閲讀背面之注意事項再填设.頁) 經濟部中央標隼局員Η消费合作社印製 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公釐}KsO resistance estimation (313). In addition, the fourth figure shows the motor speed, stator resistance, and A-phase current waveforms measured by the computer simulation of the first figure and actual hardware manufacturing. The speed command of the motor system is + 200 ~ -200rpm. When the time is from 1.5sec. To 6.5sec., A resistance of 1Ω is added to the motor stator. The fourth figure (a) is a waveform diagram of the motor speed obtained by computer simulation; Part (b) of the circle is the waveform diagram of the actual speed of the motor measured by the actual hardware production; part ⑹ of the fourth diagram is the waveform diagram of the motor stator resistance and estimated 値 obtained from the brain simulation; part (d) of the fourth diagram is The motor stator resistance measured and estimated 値 waveform diagram measured by actual hardware production; part (e) of the fourth graph is the phase A current waveform diagram obtained by computer simulation; the fourth graph (part 〇 is the actual hardware fabrication measurement Measured phase A current waveform. The simulation and actual results show that the non-measurement induction motor drive system with parameter adjustment provided by the present invention can correctly estimate the stator resistance and indirectly estimate the rotor resistance, and then the rotor resistance The parameters of the magnetic flux model are adjusted online, so that the system is not affected by temperature-sensitive parameters to obtain more accurate and robust characteristics, which confirms the correctness and feasibility of the theory proposed by the present invention. In summary, the Measuring sense Compared with other systems, the motor drive system has the following characteristics: (1) The childless induction motor vector control inverter proposed by the present invention does not require external acceleration and voltage sensors. It is the same as a general-purpose open-loop inverter: ( 2) Synchronous speed and resistance estimator work is simple to implement and can be completed by the central processing unit (CPU) of the original inverter, without the need for additional measuring instruments or personal computers; (3) Induction motor synchronous speed estimator, use The electrical parameters are the stator inductance 6 and the stator leakage inductance, without the stator resistance and the rotor resistance, so that the estimator is more accurate and robust without being affected by the temperature rise of the motor; (4) the electric capacity of the induction motor can be estimated online in real time This paper size applies Chinese National Standard (CNS) Α4 specification (210X297 mm) — (Please read the precautions on the back before filling in the page.) -A · r ^ -44 i 1 ^ 1 A7 B7 V. Description of the invention ( 8) p and the parameters are used by the inverter for online parameter adjustment, so that the non-measurement induction motor vector control inverter is not affected by the temperature rise of the motor, which makes the system more accurate and robust. However, the above-mentioned scheme disclosed in the present invention Say | It is only a feasible embodiment of the present invention. Anyone who is familiar with the technology of the present invention, and equivalent changes or modifications made in accordance with the spirit of the present invention, should be covered by the following patent application scope of the present invention. Order-&Line; (Please read the precautions on the back before filling. Page) Printed by the Central Bureau of Standards of the Ministry of Economic Affairs and Consumer Cooperatives This paper is printed in accordance with the Chinese National Standard (CNS) Α4 size (210 × 297 mm)