494612 A7 . __B7_ _ 五、發明説明（；） 本發明的領域係有關於感應電動機（induction motor)方面 的技術，特別是有關於一種應用空間向量脈寬調變之感應 電動機直接轉矩控制方法與裝置。 習知之感應電動機的驅動控制技術包括有電壓/頻率 控制及向量控制等方法。 其中電壓/頻率控制方法爲一種開回路的控制方法， 係根據預選定之一電壓/頻率曲線，以輸入轉速命令所對應 的電壓作爲電壓反流器（voltage inverter)的電壓命令。但此種 電壓/頻率控制方法的一項缺點爲無法對馬達參數之變化及 負載的波動提供補償，因此無法達到精確，快速的控制。 經濟部中央標準局員工消費合作社印製 (請先閱讀背面之注意事項再填寫本頁) 而向量控制方法可藉由坐標轉換方式將感應電動機之 定子電流分解成一垂直的磁通產生電流及一轉矩產生電 流，再藉此作電流回路控制，產生電壓反流器（voltage inverter) 內之切換元件所需之控制信號。向量控制方法的理論背景 可參閱法國 Domaine Universitaire 之 Y. A. Chapuis D. Poye J. Davoine 等 所共同發表之“適應性感應電動機定子磁通之直接轉矩控制原 理及其實施”。其中係藉由座標的轉換，將電動機之定子電 流轉換成座標上的二軸向量，分別用以作爲磁通產生電 流及轉矩產生電流。此磁通產生電流及轉矩產生電流再分, 別經切換元件而產生對感應電動機之驅動訊號。 第1圖顯示習知之一用以控制一感應電動機I Μ的直接 轉矩控制裝置。此習知之直接轉矩控制裝置的電路結構包 含：一磁通量及轉矩估算器1〇，一對比較器21，22，一 對磁滯控制器3 1 ，3 2，一區間選擇器4 0，一切換表 (switching logic table)查閱裝置50，以及一電壓反流器60。 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐）$ 494612 A7 B7 五、發明説明（‘） 其中磁通量及轉矩估算器1 0用以接收感應電動機I Μ 輸出之定子電壓Β及電流/,，據以估算出磁通量W及^， 磁通強度1% I，以及轉矩τ之訊號。|首先由比較器2 1將 其與一固定之定子磁通命令訊號丨％ f作比較’而求得二者 之間的差値△!% |，亦即Δ|%丨=丨％ | - Γ ;而τ則由比較器 22將其與一固定之定子轉矩命令訊號τ +作比較，而求得 二者之間的差値Δτ，亦即Δτ= τ- /。 △ I及Δτ再接著分別經由磁滯控制器3 1 ’ 3 2處理 後得到‘及Α。切換表查閱裝置5 0再接著以‘及Α爲輸 入參數，據以在其內建之一切換表（switching logic table)中求出 反流器所需之切換模式（义，&，又）。（义，&，又）再接著輸 入至電壓反流器6 0，促使電壓反流器6 0內之切換元件 (未顯示）輸出最適於轉矩控制之開關向量訊號。 經濟部中央標準局員工消費合作社印製 (請先閱讀背面之注意事項再填寫本頁) 此向量控制方法係爲一閉回路的控制方法，因此可獲 •得較準確及快速的響應。然而切換表中的開關向量僅限制 可利用電壓反流器中所設置的3對切換元件（未顯示）所組成 的總共8種切換向量，其中包括6個非零向量和2個零向 量。但由於習知之直接轉裝矩控制裝置中尙包括磁通量及 轉矩的計算，其控制的週期，主要係取決於磁通量及轉矩 的計算時間，復由磁滯控制器的控制，於每一控制周期中 僅能提供6個非零向量及2個零向量，再從此8個向量中 選擇適合的向量輸出。因此，習知之直接轉裝矩控制裝置 尙不易達成足夠快速及準確的轉矩響應。 本紙張尺度適用中國國家標準（CNS ) A4規格（210x297公董） 494612 經濟部中央標準局員工消費合作社印製 A7 B7 __五、發明説明（？） 若能以電壓命令來控制電壓反流器的切換元件（電壓 控制）並配合空間向量脈寬調變技術，應爲最直接且較佳的 控制方式。 緣此，本發明之主要目的便是在於提供一種新穎之感 應電動機之直接轉矩控制方法與裝置，藉以準確及快速地 控制感應電動機之轉矩響應。 根據以上所述之目的，本發明提供了一種新穎之感應電 動機之直接轉矩控制方法與裝置。本發明之直接轉矩控制 方法與裝置採用空間向量脈寬調變之技術原理來取代習知 之直接轉矩控制方法與裝置中所採用的磁滯控制器。 本發明之直接轉矩控制方法包含以下步驟：（1)將感應 電動機之三相定子電壓及電流訊號作爲輸入參數，據以估 算出一磁通強度訊號及一轉矩訊號；（2)將該磁通強度訊號 與一固定之定子磁通命令訊號作比較，藉以求出一磁通訊 號差値；（3)將該轉矩訊號與一固定之定子轉矩命令訊號作 比較，藉以求出一轉矩訊號差値；（4)將該磁通訊號差値作 積分處理，藉以求得一感應電動勢平行訊號；（5)將該轉矩 訊差値作積分處理，藉以求得一感應電動勢垂直訊號；（6) 將該感應電動勢平行訊號及垂直訊號作爲輸入參數，據以 估算出一對定子電壓指令；（7)將該定子電壓指令作爲輸入 參數，據以利用空間向量脈寬調變方法求出一最佳化之脈 寬調變波形；以及（8)將該最佳化之脈寬調變波形經反流器 處理後，輸出轉矩控制訊號至該感應電動機。 本發明之直接轉矩控制裝置包含以下組件：（a)—磁通 量及轉矩估算器，用以將感應電動機之三相定子電壓及電 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（〇奶）八4規格（210父297公釐）^ 612 A7 B7 i、發明説明（& ) (請先閱讀背面之注意事項再填寫本頁) 流訊號作爲輸入參數，並據以估算出一磁通強度訊號及一 轉矩値；（b) —第一比較器，用以將該磁通量及轉矩估算器 所估算出之磁通強度訊號與一固定之定子磁通命令訊號作 比較，並藉以輸出一磁通訊號差値；（c) 一第二比較器，用 以將該磁通量及轉矩估算器所估算出之轉矩訊號與一固定 之定子轉矩命令訊號作比較，並藉以輸出一轉矩訊差値； (d) —第一比例積分控制器，用以將該第一比較器所輸出之 磁通訊號差値作積分處理，藉以求得一感應電動勢平行訊 號；（e) —第二比例積分控制器，用以將該第二比較器所輸 出之轉矩訊號差値作積分處理，藉以求得一感應電動勢垂 直訊號；（0 —感應電動勢及定子電壓命令估算器’用以將 該第一及第二比例積分控制器所輸出之感應電動勢平行訊 號及垂直訊號作爲輸入參數，據以估算出一對定子電壓指 令；（g) —空間向量脈寬調變器，用以將該感應電動勢及定 子電壓命令估算器所輸出之定子電壓指令作爲輸入參數’ 據以求出一最佳化之脈寬調變波形；以及（h) 一電壓反流 器，用以將空間向量脈寬調變器所輸出之最佳化之脈寬調 變波形經反流器處理後，輸出轉矩控制訊號至該感應電動 機。 經濟部中央標準局員工消費合作社印製 以下參佐所附圖示詳細說明本發明之實施例： 第1圖爲一方塊圖，顯示應用在一感應電動機上之習知之直 接轉矩控制裝置的電路結構； 第2圖爲一方塊圖，顯示應用在一感應電動機上之本發明之 直接轉矩控制裝置的基本電路架構；且 本紙張尺度適用中國國家標準(CNS ) A4祕（210X297公釐、 494612 經濟部中央標準局員工消費合作社印製 A7 4 B7 ___五、發明説明（Ί ) 第3圖爲一方塊圖，用以顯示第2圖之直接轉矩控制裝置更 進一步詳細的電路架構。 請參閱第2圖，其中顯示本發明之直接轉矩控制裝置用 以控制一感應電動機ΙΜ之轉矩的示意方塊圖。本發明之 直接轉矩控制裝置其基本電路架構包含：一磁通量及轉矩估 算器1 〇 〇，一對比較器2 1 0，2 2 0，一對比例積分控制器 (proportional integration device，PID) 310 ’ 32 0 ’ 一感應電動勢及 定子電壓命令估算器400，一*空間向里脈寬調變裝置 500，以及一電壓反流器600。 其中磁通量及轉矩估算器100用以接收感應電動機 I Μ輸出之定子電壓K,及電流/,，由於感應電動機ΪΜ爲三 相式，因此電壓= (Ku，Kv，)，而電流乃=(八，八，“）。 請同時參閱第3圖，F,及/,輸入至磁通量及轉矩估算 器100後，首先由一三相至二相電壓轉換器110將三相 •之電壓F,利用Park轉換式轉換成心？平面上之二相電壓，亦 即將（K，K，K)轉換成（^，〇，並另由一三相至二相電流轉 換器1 2 0亦利用Park轉換式將三相之電流轉換成心？平 面上之二相電流，亦即將（人，/v，/w)轉換成（h，心）。由於Park 轉換式爲習知之演算方法，因此本說明書中將不對其作進 一步詳細之說明。 然後，所產生之二相電壓（h，G )及二相電流，八）再 同時輸入至一磁通量估算裝置130，進行以下之估算處 理； Wd = \ {Vd - Id ^ Rs) · dt Wq = \ {Vq ^ Iq· Rs) - dt (請先閲讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 494612 經濟部中央標準局員工消費合作社印製 A7 B7五、發明説明（） 其中及，爲定子之電阻値。 經由磁通量估算裝置1 3 0所估算出之磁通量W及仏 再分別傳送至一磁通強度估算裝置140及一轉矩估算裝置 1 5 0中，分別進行磁通強度1% I及轉矩τ之估算。其中磁通 強度估算裝置1 4 0對^及^進行以下之估算處理而求得 磁通平方丨％ I爲： Ws\2 = (ψα2 + Vq2 ) 而轉矩估算裝置1 5 0則對^及％進行以下之估算處理 以求得轉矩τ爲： τ = ψά · I q _ Yq · I d 磁通量及轉矩估算器1 〇 〇因此以感應電動機I M輸出 之定子電壓及電流爲輸入’經上述之估算處理後得 到W ，^，| % |，及τ四個輸出訊號。w及^接著傳送 至感應電動勢及定子電壓命令估算器4〇〇作爲估算電壓命 令所用之參數，而I及τ則分別先經由比較器210, 2 2 0及比例積分控制器3 1 0，3 2 0處理後得到感應電動勢 之平行訊號五U及垂直訊號心後，再將此（A，)二訊號傳 送至感應電動勢及定子電壓命令估算器4〇0作爲估算電壓 命令所用之參數。 |A|首先由比較器220將其與一固定之定子磁通命令 訊號1% Γ作比較，而求得二者之間的訊號差値Δ|% I，亦即 △1% I = I趴 Γ - I 而τ則由比較器210將其與一固定之定子轉矩命令訊號τΦ 作比較，而求得二者之間的訊號差値△ τ，亦即 Δτ = τ* - τ (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Α4規格（21〇><297公釐） 494612 A7 _B7__五、發明説明（9) Δ IA丨再接著經由比例積分控制器 3 2 0處理後得到 ，而Δτ則由比例積分控制器3 1 0處理後得到尽！。 感應電動勢及定子電壓命令估算器 4 0 0以(仏/,)， (耳丨，£jl)，以及（妁，仏，I % | )三組共七個輸入値作爲估算 感應電動勢仏與A値。 感應電動勢及定子電壓命令估算器400包含二個估算 單元：一感應電動勢估算單元410以及一定子控制命令估 算單元4 2 0。 感應電動勢估算單元4 1 0以（£n，£x)及（㈧，％，丨％丨)五 個輸入訊號作爲估算二軸式感應電動勢五及五，的參數， 其所用之估算公式如下所示： (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標準局員工消費合作社印製 +/g%)+pk6L) 1% I Eq = [£|, - k2 |ί^ I + 2Rs(Idy/d +I^q )] / 2 接著定子控制命令估算單元4 2 0以（A，& )及（h，，八）與 (㈧’ A)爲輸入參數，以下面公式估算定子電壓指令G及 G : Vd ^ - y/qEd + (b ^ - Id)Eq Vq = ψάΕα^ {bYq· Iq)Eq (h ’ F9)再接著輸入至空間向量脈寬調變器5〇〇中， 由空間向量脈寬調變器5 0 0中之微處理機（未顯示）作即時 (real time)之演算處理後，便可得到最佳化之脈寬調變波形 A ’ & ’又之値。（又，义，& )再接著輸入至電壓反流器 本紙張尺度適用中國國家標準（CNS )八4規格（21〇><297公釐） ν 上 1Χ 6 94 4 經濟部中央標準局員工消費合作社印製 A7 B7五、發明説明（) 600，促使電壓反流器600內之切換元件（未顯示）輸出最 適於控制之開關向量訊號。 因此，上述係由以下導出，令感應馬達之定子電流 (从，A )與磁場(妁，仏)於靜止座標上之動態方程式： Id = - T Id - p Iq + k · ψά/Ί r + pkc^^+bF^ Iq = ρ ω Id- γ Id - p k ω ^ + k · ψ^Ύτ + bVq ψά = - Rsld + Vd Xf/q = -Kslq + Vq 其中 7 = Rs/ σ Ls + 1/ σ Tr， k = 1/ σ Ls , b = 1/aLs y σ = 1 - Lm2/LsLr， Tr = Lr/Rr , Rs爲感應馬達之定子電阻； Rr爲感應馬達之轉子電阻； Ls爲感應馬達之定子電感； Lr爲感應馬達之轉子電感， Lm爲感應馬達之互感値； p爲馬達極數， ω爲馬達轉速。 (請先閲讀背面之注意事項再填寫本頁) 接著， 分別對轉矩與磁通強度平方可得： τ =-γτ + ρ ω χ 22 - ρ\^ω \ψ5 \ +Ed (i) \¥s I = -2Rs χ 22-h 2Eq (2) 其中 Z 22 =(I άψά +IqYq) 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ297公釐) 494612 A7 B7 五、發明説明（（；）494612 A7. __B7_ _ V. Description of the invention (;) The field of the present invention relates to the technology of induction motors, in particular to a direct torque control method of an induction motor using space vector pulse width modulation and Device. The conventional drive control techniques of induction motors include voltage / frequency control and vector control. The voltage / frequency control method is an open-loop control method. According to a preselected voltage / frequency curve, the voltage corresponding to the input speed command is used as the voltage command of the voltage inverter. However, a disadvantage of this voltage / frequency control method is that it cannot compensate for changes in motor parameters and load fluctuations, so it cannot achieve accurate and fast control. Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs (please read the precautions on the back before filling this page), and the vector control method can decompose the stator current of the induction motor into a vertical magnetic flux by means of coordinate conversion to generate current and one revolution The torque generates current, which is then used for current loop control to generate the control signals required by the switching elements in the voltage inverter. The theoretical background of the vector control method can be found in "Direct Torque Control Principle and Implementation of Adaptive Induction Motor Stator Flux" published by Y. A. Chapuis D. Poye J. Davoine and others at Domaine Universitaire, France. Among them, the stator current of the motor is converted into a two-axis vector on the coordinates through the transformation of the coordinates, which are respectively used to generate the current of the magnetic flux and the current of the torque. The current generated by the magnetic flux and the current generated by the torque are subdivided, and the driving signal to the induction motor is not generated by switching components. Fig. 1 shows a conventional direct torque control device for controlling an induction motor IM. The circuit structure of the conventional direct torque control device includes: a magnetic flux and torque estimator 10, a pair of comparators 21, 22, a pair of hysteresis controllers 3 1, 3 2, and a range selector 40, A switching logic table lookup device 50 and a voltage inverter 60. This paper size applies Chinese National Standard (CNS) A4 specification (210X297 mm) $ 494612 A7 B7 V. Description of the invention (') Among them, the magnetic flux and torque estimator 10 is used to receive the stator voltage BM output of the induction motor BM and The current /, is used to estimate the signals of the magnetic fluxes W and ^, the magnetic flux intensity 1% I, and the torque τ. First, the comparator 21 compares it with a fixed stator flux command signal 丨% f 'to find the difference 二者 △!% |, That is, Δ |% 丨 = 丨% |- Γ; and τ is compared by a comparator 22 with a fixed stator torque command signal τ +, and the difference 二者 Δτ is obtained, that is, Δτ = τ- /. ΔI and Δτ are then processed by the hysteresis controller 3 1 ′ 3 2 to obtain ′ and A, respectively. Switching table lookup device 50 then uses' and A as input parameters to obtain the switching mode required by the inverter in one of its built-in switching logic tables (meaning, & again) . (Meaning, & again) and then input to the voltage inverter 60 to cause the switching element (not shown) in the voltage inverter 60 to output the switching vector signal most suitable for torque control. Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs (please read the precautions on the back before filling this page) This vector control method is a closed-loop control method, so you can get a more accurate and fast response. However, the switching vectors in the switching table are limited to a total of 8 switching vectors composed of 3 pairs of switching elements (not shown) set in the voltage inverter, including 6 non-zero vectors and 2 zero vectors. However, since the conventional direct-loading torque control device does not include the calculation of magnetic flux and torque, the period of its control mainly depends on the calculation time of the magnetic flux and torque, which is controlled by the hysteresis controller. Only 6 non-zero vectors and 2 zero vectors can be provided in the cycle, and then a suitable vector output is selected from the 8 vectors. Therefore, it is difficult to achieve a fast and accurate torque response with the conventional direct torque control device. This paper size applies to Chinese National Standard (CNS) A4 (210x297). 494612 Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs. A7 B7 __V. Description of the invention (?) If the voltage command can be used to control the voltage inverter The switching element (voltage control) and the space vector pulse width modulation technology should be the most direct and better control method. For this reason, the main object of the present invention is to provide a novel direct torque control method and device for an induction motor, so as to accurately and quickly control the torque response of an induction motor. According to the above-mentioned object, the present invention provides a novel direct torque control method and device for an induction motor. The direct torque control method and device of the present invention use the space vector pulse width modulation technology principle to replace the conventional hysteresis controller used in the conventional direct torque control method and device. The direct torque control method of the present invention includes the following steps: (1) The three-phase stator voltage and current signals of the induction motor are used as input parameters to estimate a magnetic flux intensity signal and a torque signal; (2) the Compare the magnetic flux intensity signal with a fixed stator flux command signal to obtain a magnetic signal difference; (3) Compare the torque signal with a fixed stator torque command signal to obtain a Torque signal differential; (4) Integrate the magnetic communication signal differential to obtain an induced electromotive force parallel signal; (5) Integrate the torque signal differential to obtain an induced electromotive force vertical Signal; (6) using the induced electromotive force parallel signal and vertical signal as input parameters to estimate a pair of stator voltage commands; (7) using the stator voltage command as input parameters to use the space vector pulse width modulation method Finding an optimized pulse width modulation waveform; and (8) processing the optimized pulse width modulation waveform by the inverter, and outputting a torque control signal to the induction motor. The direct torque control device of the present invention includes the following components: (a)-magnetic flux and torque estimator, which is used to convert the three-phase stator voltage and power of the induction motor (please read the precautions on the back before filling this page) The scale applies to the Chinese National Standard (0 milk) 8 specifications (210 father 297 mm) ^ 612 A7 B7 i & Invention Description (Please read the precautions on the back before filling this page) Stream signal as input parameters, And a magnetic flux intensity signal and a torque 估算 are estimated based thereon; (b) a first comparator for comparing the magnetic flux intensity signal and the magnetic flux intensity signal estimated by the torque estimator with a fixed stator magnetic flux The command signal is compared and a magnetic communication signal difference is output; (c) a second comparator for comparing the torque signal estimated by the magnetic flux and the torque estimator with a fixed stator torque command signal Make a comparison and output a torque signal difference; (d) — a first proportional-integral controller for integrating the magnetic signal number difference output by the first comparator to obtain an induced electromotive force Parallel signals; (e) The second proportional-integral controller is used to integrate the torque signal difference output from the second comparator to obtain a vertical signal of the induced electromotive force; (0—the induced electromotive force and the stator voltage command estimator 'is used to Using the inductive electromotive force parallel signals and vertical signals output by the first and second proportional-integral controllers as input parameters, a pair of stator voltage commands are estimated based on this; (g) — a space vector pulse width modulator for The induced voltage and the stator voltage command output from the stator voltage command estimator are used as input parameters to obtain an optimized pulse width modulation waveform; and (h) a voltage inverter is used to convert the space vector pulse The optimized pulse width modulation waveform output by the wide modulator is processed by the inverter, and the torque control signal is output to the induction motor. The Consumers Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs printed the following attached drawings Detailed description of the embodiment of the present invention: FIG. 1 is a block diagram showing a circuit structure of a conventional direct torque control device applied to an induction motor; FIG. 2 A block diagram showing the basic circuit architecture of the direct torque control device of the present invention applied to an induction motor; and this paper size applies to China National Standard (CNS) A4 Secretary (210X297 mm, 494612 employees of the Central Standards Bureau of the Ministry of Economic Affairs Printed by the Consumer Cooperative A7 4 B7 ___ V. Description of the Invention (Ί) Figure 3 is a block diagram showing the further detailed circuit architecture of the direct torque control device shown in Figure 2. Please refer to Figure 2 where A schematic block diagram showing the direct torque control device of the present invention for controlling the torque of an induction motor IM. The basic circuit structure of the direct torque control device of the present invention includes: a magnetic flux and a torque estimator 100, one For the comparators 2 1 0, 2 2 0, a pair of proportional integration controller (PID) 310 '32 0'-an induced electromotive force and stator voltage command estimator 400, a * space inward pulse width modulation device 500, and a voltage inverter 600. The magnetic flux and torque estimator 100 is used to receive the stator voltage K and current / of the output of the induction motor IM. Since the induction motor is a three-phase type, the voltage = (Ku, Kv,), and the current is = ( Eight, eight, "). Please also refer to Figure 3, F, and /, after inputting into the magnetic flux and torque estimator 100, first a three-phase to two-phase voltage converter 110 converts the three-phase voltage F, Use Park conversion to convert to two-phase voltage on the plane? (K, K, K) is also converted to (^, 〇, and another three-phase to two-phase current converter 1 2 0 also uses Park conversion Formula converts the three-phase current into heart? The two-phase current on the plane is also (human, / v, / w) into (h, heart). Since the Park conversion formula is a known calculation method, in this specification It will not be described in further detail. Then, the generated two-phase voltage (h, G) and two-phase current, and 8) are simultaneously input to a magnetic flux estimation device 130 to perform the following estimation processing; Wd = \ {Vd -Id ^ Rs) · dt Wq = \ (Vq ^ Iq · Rs)-dt (Please read the precautions on the back before (Write this page) This paper size is in accordance with Chinese National Standard (CNS) A4 (210X 297 mm) 494612 Printed by A7 B7, Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 5. Description of the invention () Among them, the stator resistance 値. The magnetic fluxes W and 仏 estimated by the magnetic flux estimation device 130 are transmitted to a magnetic flux estimation device 140 and a torque estimation device 150 respectively, and the magnetic flux intensity 1% I and the torque τ are respectively performed. Estimation: The magnetic flux estimation device 1 40 performs the following estimation processing on ^ and ^ to obtain the square of the magnetic flux 丨% I is: Ws \ 2 = (ψα2 + Vq2) and the torque estimation device 1 50 performs ^ And% perform the following estimation processing to obtain the torque τ as: τ = ψά · I q _ Yq · I d The magnetic flux and torque estimator 1 〇〇 Therefore, the stator voltage and current output by the induction motor IM are used as inputs' After the above estimation process, four output signals W, ^, |% |, and τ are obtained. W and ^ are then transmitted to the induced electromotive force and stator voltage command estimator 400 as parameters for estimating the voltage command, and I and τ goes through comparator 2 10, 2 2 0 and proportional integral controller 3 1 0, 3 2 0 After processing, the parallel signals of five U and the vertical signal core of the induced electromotive force are obtained, and then send this (A,) two signals to the induced electromotive force and the stator voltage command. The estimator 400 is used as a parameter for estimating the voltage command. | A | First, it is compared with a fixed stator flux command signal 1% Γ by the comparator 220, and the signal difference 値 Δ between the two is obtained. |% I, that is, △ 1% I = I Γ-I, and τ is compared with a fixed stator torque command signal τΦ by the comparator 210, and the signal difference between the two is obtained 値 △ τ, that is, Δτ = τ *-τ (please read the precautions on the back before filling this page) This paper size applies the Chinese National Standard (CNS) Α4 specification (21〇 > < 297 mm) 494612 A7 _B7__ V. Description of the invention (9) ΔIA 丨 is then obtained after processing by the proportional integral controller 3 2 0, and Δτ is obtained after processing by the proportional integral controller 3 1 0! . The induced electromotive force and stator voltage command estimator 4 0 uses (仏 /,), (ear 丨, £ jl), and (妁, 仏, I% |) three groups of seven inputs as the estimated induced electromotive force 仏 and A value. The induced electromotive force and stator voltage command estimator 400 includes two estimation units: an induced electromotive force estimation unit 410 and a certain control command estimation unit 4 2 0. The induced electromotive force estimation unit 4 10 uses (£ n, £ x) and (㈧,%, 丨% 丨) five input signals as parameters for estimating the two-axis induced electromotive force five and five. The estimation formula used is as follows: Note: (Please read the notes on the back before filling out this page) Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs + / g%) + pk6L) 1% I Eq = [£ |,-k2 | ί ^ I + 2Rs (Idy / d + I ^ q)] / 2 Then the stator control command estimation unit 4 2 0 takes (A, &) and (h ,, eight) and (㈧ 'A) as input parameters, and estimates the stator using the following formula Voltage commands G and G: Vd ^-y / qEd + (b ^-Id) Eq Vq = ψάΕα ^ (bYq · Iq) Eq (h 'F9) is then input to the space vector pulse width modulator 500. After the real-time calculation is performed by a microprocessor (not shown) in the space vector pulse width modulator 500, the optimized pulse width modulation waveform A '&'値. (Also, &), and then input to the voltage inverter. The paper size is applicable to the Chinese National Standard (CNS) 8-4 specification (21〇 > < 297 mm) ν 1 × 6 94 4 Central Standard of the Ministry of Economic Affairs A7 B7 printed by the Bureau ’s Consumer Cooperative. V. Description of Invention (600), prompting the switching element (not shown) in the voltage inverter 600 to output the switching vector signal most suitable for control. Therefore, the above is derived from the dynamic equation of the stator current (from, A) and magnetic field (妁, 仏) of the induction motor on the stationary coordinates: Id =-T Id-p Iq + k · ψά / Ί r + pkc ^^ + bF ^ Iq = ρ ω Id- γ Id-pk ω ^ + k · ψ ^ Ύτ + bVq ψά =-Rsld + Vd Xf / q = -Kslq + Vq where 7 = Rs / σ Ls + 1 / σ Tr, k = 1 / σ Ls, b = 1 / aLs y σ = 1-Lm2 / LsLr, Tr = Lr / Rr, Rs is the stator resistance of the induction motor; Rr is the rotor resistance of the induction motor; Ls is the induction motor Stator inductance; Lr is the rotor inductance of the induction motor, Lm is the mutual inductance of the induction motor; p is the number of motor poles, and ω is the speed of the motor. (Please read the notes on the back before filling this page) Then, you can square the torque and magnetic flux separately: τ = -γτ + ρ ω χ 22-ρ \ ^ ω \ ψ5 \ + Ed (i) \ ¥ s I = -2Rs χ 22-h 2Eq (2) where Z 22 = (I άψά + IqYq) This paper size applies Chinese National Standard (CNS) Α4 specification (210 × 297 mm) 494612 A7 B7 V. Description of the invention (( ;)
Ed =- Iq)vd+ ( b Yd-Id)Vq (3) Eq =¥dVd^ ¥qVq (4) 將（1 )與（2)式，簡化下式： τ = =-7τ +五丄 (5) # Ws 1 = \ψ5 |+£η (6) 其中 :Ρ ω 尤 22 - p k ύϋ | ^ | ⑺ Ειι : =kj |^, | -2Rsx 22 + 2£, ⑻ 由（7 )、（8 )兩式分別求出心與&値， =五丄-Ρ ω % 22 +pko 1% | (9) Eq = (EU - kj \ψ8 | + 2Rs % 22 )/ 2 (10) 得出五a與£,値後，以（3)與（4)之關係式，即可求得6與 G之結 Vd = -VqEd + (by/d-Id)Eq ^ = ψάΕά^τ {byq· Iq)Eq (請先閱讀背面之注意事項再填寫本頁) 經濟部中央標隼局員工消費合作杜印製 以i：所述僅爲本發明之較佳實施例而已並非用以限定 本發明之範圍，凡其它未脫離本發明所揭示之精神下所完成 之等效改變或修飾均應包含在下述之專利範圍內. 本紙張尺度適用中國國家標準（CNS〉A4規格（210X297公釐）Ed =-Iq) vd + (b Yd-Id) Vq (3) Eq = ¥ dVd ^ ¥ qVq (4) Simplify the following formulas (1) and (2): τ = = -7τ + 五 丄 (5 ) # Ws 1 = \ ψ5 | + £ η (6) where: Ρ ω 尤 22-pk ύϋ | ^ | ⑺ Ειι: = kj | ^, | -2Rsx 22 + 2 £, ⑻ consists of (7), (8 ) The two formulas respectively find the heart and & 値, = 五 丄 -Ρ ω% 22 + pko 1% | (9) Eq = (EU-kj \ ψ8 | + 2Rs% 22) / 2 (10) gives five After a and £, 値, using the relational expressions of (3) and (4), we can find the knot between 6 and G. Vd = -VqEd + (by / d-Id) Eq ^ = ψάΕά ^ τ {byq · Iq ) Eq (Please read the notes on the back before filling out this page) The consumer cooperation of the Central Bureau of Standards of the Ministry of Economic Affairs is printed with i: The description is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention All other equivalent changes or modifications made without departing from the spirit disclosed by the present invention should be included in the scope of the following patents. This paper size applies to Chinese national standards (CNS> A4 specifications (210X297 mm)