TW498600B - Scalar control method and device of induction motor with no sensor - Google Patents

Abstract

There is provided a scalar control method and system of induction motor with no sensor. A stator magnetic flux estimation method is employed to directly estimate the stator magnetic flux estimation value of the induction motor from the stator current value and stator voltage value of the induction motor. Then, based on the estimated stator magnetic flux, a shift equation is employed to determine a shift frequency compensation value. Finally, based on a set rotating speed command and the shift frequency compensation value, the shift frequency of the induction motor is compensated, so that the induction motor keeps to operate at a desired predetermined rotating speed. The method further comprises a step for increasing voltage to overcome the influence to the magnetic field intensity caused by the resistor's voltage drop of the induction motor. The method further comprises using a serially connected high pass filter to overcome the initial value and DC offset problem for the estimation value. The cut-off frequency and power source frequency of the serial-connected high pass filter have a proportional relation, so that the resultant phase and amplitude offset of the estimated magnetic flux vector can be modified by using a constant matrix.

Description

498600 Α7 Β7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. 5. Description of the invention (/)-1. Field of the invention: The present invention is related to the scalar control technology of an induction motor, especially the sensorless type. Method and system for scalar control of induction motor. 2. Background: In industrial applications, two methods of scalar control (Se_㈤㈣ or vector control) are often used to drive the speed of induction motors (dnducticm Motors). Although the scalar control method is inferior to the vector control method in terms of speed dynamic response, speed control ratio, and control accuracy, but because the control circuit of the scalar control method has a simple structure, is easy to implement, and is less prone to divergence problems. The scalar control method is still widely used in some non-servo purpose industrial applications. In the scalar control system, it can be divided into two different control circuit architectures: Open Loop and Close Loop. In the closed loop scalar control system, in order to make the speed of the induction motor follow the set speed command, it is necessary to add an encoder or tachometer to the speed of the induction motor to return the speed of the induction motor for slip compensation. However, installing the encoder or speed sensor #Speed Sensors will not only increase the cost of the control system, but also destroy the robustness of the induction motor structure. Therefore, in the scalar control system, if the actual rotation speed of the induction motor can be returned by means of speed estimation or magnetic flux estimation, it can still achieve a closed loop without installing a speed sensor. Scalar control. Therefore, in recent years, many literatures have discussed the problem of estimating the speed of induction motors. For example, Bonanno et al., Published in 1995 / Voc.⑽a / pages 166-173 entitled “a Direct Field (please read the precautions on the back before filling this page). (CNS) A4 specification (210X ^ 97 mm) 498600 Λ7 ___ Η 7 V. Description of the invention (>) (Jing Xian first read the back note, t matter Sun fill in IV? This page)

"Oriented Induction Machine Drive with Robust Flux Estimator for Position Sensorless Control" documents disclose a rotor magnetic flux estimator of parallel architecture, which completes the robustness without the need for pure integration, and without phase offset and amplitude attenuation. The rotor flux estimator calculates the speed of the motor from the estimated rotor flux. In addition, Schauder published in TVii / wsir / a / 1992, Vol. 28, Vol. 28 No. 5 No. 1054 In the document entitled "Adaptive Speed Identification for Vector Control of Induction Motors without Rotational Transducers" on page -1061, it uses the reference model to adapt the estimation rule, and the estimated flux between the voltage mode and current mode of the rotor flux Phase difference to estimate the motor speed.

Peng et al. Published in 1994 IEEE Trans, on Industrial, Vol. 30 No. 5 pages 1234-1240 titled "Robust speed identification for speed-sensorless vector control of induction motors", using a reactive power model to propose A robust speed estimator that is completely unaffected by stator resistance errors and has no pure integration problems. Printed by R Industrial Consumer Cooperative, Intellectual Property Bureau, Ministry of Economic Affairs

Kubota et al. In 1994 7 > α like · 似 / WwW / a / like Volume 30 No. 5 pages 1219-1224 entitled "Speed Sensorless Field-Oriented Control of Induction Motor with Rotor Resistance Adaptation", And Yang et al., Electrical Engineering in Japan in 1993 Vol. Λ3! ≪ \ οΛ PAGE \ Q9-118 The name is "Hyperstability of the Full-Order Observer for Vector-Controlled Induction Motor Drive without Speed" National Standard (CNS) Λ4 specification (2 丨 0X 297 mm) 3 498600 Λ7 B7 V. Description of the invention (>)

Sensor, in the literature, uses a full-order adaptive estimator to simultaneously identify the motor speed and stator resistance, and injects harmonics into the field current command to estimate the rotor resistance at the same time, thereby estimating the motor speed.

Bose et al. 1997 / £: ££ Trans, on Industrial resembles volume 44 No. · 1 pages 140-143 entitled "A Programmable Cascaded Low-Pass Filter-Based Flux Synthesis for a Stator Flux-Oriented Vector- In the "Controlled Induction Motor Drive" document, a type of integrator is synthesized by connecting three low-pass filters that can change the bandwidth according to the electrical frequency to estimate the magnetic flux, and then the speed of the induction motor is estimated.

Hu et al. In the "99 Proc. Of IEEE Power Electronics Vol. 44 No. l pages 1075-1081" document entitled "uNew Integration Algorithms for Estimation Motor Flux Over a Wide Speed Range" uses the magnetic flux vector and its time The inner product of the micro component of the correction estimates the magnitude of the magnetic flux to avoid the phase offset of the estimated magnetic flux vector. The Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs printed these previously published technical documents without any installation. In the case of a speed sensor, different methods are used to achieve the purpose of magnetic flux estimation or rotational speed estimation, but it has not been seen that the voltage mode magnetic flux estimation device directly uses the voltage command and The feedback current is used to estimate and measure the sub-flux, and then the mathematical model of the induction motor is used to calculate the slip for frequency compensation. Check, the dynamic equation of the magnetic flux of the induction motor in any rotating coordinate system can be expressed as: 'This paper scale Applicable to Chinese National Standard (CNS) Λ4 specification (2 丨 0 X 297 public broadcasting) 498600 Α7 Β7 V. Description of the invention (★) ^ ds = Vds ^ Rs lds + ω (1) Ks = Vqs-Rs iqs-Ads (2) 乂 公 = 一 U / Tr + (ω — ω ") λγ L / Tr (3) λ, Γ = ~ λ ^ / τΓ-(ω-ω ^ λ ^ + Lmiqs / xr (4 ) ^ dr = Lr {^ also-οLsids, jLm (5) K = Lr (λ, ν-σ4ν) / ^, (6) where a = \ -L2J (LsLr), Tr = Lr / Rr (7) (Please read the notes on the back first, printed by the Ministry of Economic Affairs, N / 4 ^ .7M, i / i cooperatives (dagger, c) for the stator voltage of the shaft and the shaft; for the stator current of the shaft and the dead shaft; (Λ, V) is the stator magnetic flux of the shaft and shaft; (, \,) is the magnetic flux of the d-axis and shaft rotor; ω is the rotation speed of the coordinate shaft;% is the electrical speed of the motor rotor of the coordinate shaft;% is the rotor The time constant σ is the rotor leakage inductance coefficient A is the stator resistance of the motor. Where is the rotor resistance of the motor A is the self-induction of the motor's stator 4 is the self-induction of the motor's rotor 4 is the mutual inductance between the stator and the rotor of the motor. (1) -(2), the dynamic equation of the stator magnetic flux of the induction motor in the synchronous rotating coordinate system (ω = ω〇 can be expressed as: This paper scale is applicable to China's national standard (CNS) Λ4 丨 see grid (2 丨 0 ^ 297 (Mm) This page)

1T line Α7 V. Description of the invention (JT). Qs (8)

Ks = vm'vds (9) where the superscript e represents a synchronous rotating coordinate system, and% is the synchronization rate of the power source '. In this coordinate system, the steady state value of the stator magnetic flux is a direct current. (10) ου (12) by (11H12) type stator voltage

In order to consider the relationship between the stator voltage and the stator magnetic field strength, it is assumed that the axis of the synchronous rotating coordinate system and the stator magnetic flux vector are in the same phase. I ”The stator magnetic field strength is a fixed value, that is, 乂: Η; Ι, λ ;, 〇, ifds = Q will Substituting (10) into (8)-(9), we get

VI 'Rs i € qs + COe \ K \ Without considering the stator resistance voltage drop, the relationship between the magnitude and the stator magnetic field strength can be approximated as follows: 丨 Park ωΑΐ (13) Therefore, a voltage-controlled As for the inverter, as long as the ratio of the amplitude of the stator voltage to the frequency (stator magnetic field strength) is maintained, the induction motor can be driven to operate near the set frequency, that is, scalar control with open loop. In an open loop scalar control system, the speed of the induction motor will drift with the change of the load. Therefore, in some applications, a closed-loop bass ， control strategy is adopted, that is, the slip frequency 滓 Ll compensation is performed according to the error between the speed command and the feedback speed, so that the induction motor is maintained at the desired predetermined speed. The consumer cooperative prints the closed-loop induction motor scalar control system block shown in Figure 1. 'The speed signal needs to be fed back by the induction motor 11 for slip frequency compensation. This paper size (CNS) Λ4ϋ) M & (21 () X 297 ^ M 498600 Λ7 B7 V. Description of the Invention (θ) In order to make the rotation speed of the induction motor 11 follow the set speed command In the conventional technology, the feedback speed signal of the induction motor 11 generally needs to be at The induction motor 11 is provided with an encoder 12 or a tachometer to return the speed signal of the induction motor 11. The system block diagram shown in FIG. 1 mainly includes a slip frequency compensation unit 13 including a proportional integral. Circuit PI. The slip frequency compensation unit 13 generates a slip frequency compensation signal < by the slip frequency compensation unit 13 according to the error between the set speed command signal < and the speed feedback signal%. The signal% is used for slip frequency compensation, and a synchronous frequency command signal is still generated: the synchronous frequency command signal ⑺: multiplied by the stator flux command λ) to obtain a certain sub-voltage Command signal <. The synchronous frequency command signal < and the stator voltage command signal < are sent to a voltage-controlled inverter 14 (Inverter). The voltage-controlled inverter 14 controls the induction motor 11 to maintain a desired rotation speed. If you can directly use the stator voltage and stator current of the induction motor to estimate the slip frequency or speed without installing a sensor, you can achieve the closed-loop control as shown in Figure 1. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economics Summary of the Invention: Therefore, the main purpose of the present invention is to provide a scalar control method of an induction motor without a sensor. Under the system structure of the present invention, when the feedback speed signal of the induction motor is fed back, there is no need to attach an encoder or a tachometer to the induction motor, but the stator current value of the induction motor and the paper size of the stator are directly applicable. Chinese National Standard (CNS) Λ4 is present (2 丨 0 X 297 mm) 498600 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs Λ7 B7 V. Description of the invention (γ) A slip frequency compensation can be estimated by the pressure value Value and control the speed of the induction motor accordingly. Another object of the present invention is to provide a sensorless induction motor scalar control method including slip estimation and stator magnetic flux estimation method. The stator magnetic flux estimation method is used to estimate the stator magnetism of the induction motor. Pass the estimated value, then calculate a slip frequency compensation value using a slip calculation formula based on the estimated stator magnetic flux, and finally use the set speed command and the slip frequency compensation value as the slip of the induction motor Frequency compensation keeps the induction motor running at the desired predetermined speed. The method further includes a step of increasing the voltage to overcome the influence of the resistance voltage drop of the induction motor on the stator magnetic field strength. The method further includes a series high-pass filter to overcome the problem of the initial value of the estimated value and the DC offset. The cut-off frequency of the series high-pass filter is proportional to the power frequency, so that the resulting estimation The phase and amplitude offsets of the magnetic flux vector can be corrected using a constant matrix. Another object of the present invention is to provide a sensorless scalar control system of an induction motor to cooperate with an inverter to control the speed of an induction motor according to a set speed command signal. The system includes a stator magnetic flux and 4 differential A frequency estimation device is used for estimating the stator magnetic flux estimation value of the induction motor and generating a slip frequency compensation estimation value; a synchronous frequency command signal generating unit, based on the slip frequency compensation estimation value and the rotation speed command The synchronous frequency command signal A sub-voltage output device generates an output stator voltage value to the inverter according to the synchronous frequency command signal and a certain sub-voltage command signal, wherein the inverter drives the induction motor according to the output stator voltage value of the stator output device. 'Estimated by the stator flux and slip frequency

This paper size applies to Chinese National Standards (CNS

8 498600 Λ7 B7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention (times) ~ — The measuring device will give feedback based on the speed of the induction motor and add it to the speed command to generate a power synchronization frequency signal to The slip & 5 rate compensation of the induction motor keeps the induction motor running at the desired predetermined speed. Preferably, the stator magnetic flux and slip frequency estimation device estimates the stator magnetic flux estimation value of the induction motor directly from the stator current value and the stator voltage value of the induction motor, and then the estimated stator The estimated value of the magnetic flux is calculated by a slip calculation formula. Furthermore, the system architecture of the present invention further includes a back-EMF estimation device, which estimates a back-EMF estimation value based on the stator voltage value of the induction motor, and generates a certain sub-voltage estimation value to the stator voltage output accordingly. Device. The invention further includes a step-up device to boost the stator voltage command signal to overcome the influence of the resistance voltage drop of the induction motor on the magnetic field strength of the stator. The other objects and structural design of the present invention will be further explained by the following examples and attached drawings, in which: (1) Brief description of the drawings: Figure 1 shows a typical closed-loop induction motor scalar Schematic diagram of the control system; Figure 2 shows the geometric relationship of the rotor flux in the cT coordinate system; Figure 3 shows the block diagram of the stator flux and slip frequency estimator of the invention; Figure 4 shows the sensorless sensor of the invention Schematic diagram of the induction motor scalar control system. (II) Explanation of drawing number: 11 Induction motor This paper is applicable to the Chinese National Standard (CNS > Λ4 specification (210X-297gt)). (Order). 9'498600 A7 B7 Printed by the Hi / I ^ H Industrial Cooperative of the Ministry of Economic Affairs. 4. Description of the invention (y) 12 Editor_13 Slip frequency compensation unit 14 Voltage control inverter 21 Stator magnetic flux and slip frequency estimation device 22 Induction motor 23 Synchronous frequency command signal generating unit 24 Stator voltage output device 25 Inverter 26 Boost controller K Boost voltage K Stator voltage command signal V; Boost voltage command signal vds Mandrel Stator voltage ~ ^ Stator voltage ω Coordinate axis rotation speed (〇r Speed feedback signal ω \ Speed command signal Heart slip frequency signal < Slip frequency compensation signal Synchronous frequency command signal K Stator magnetic flux coefficient Magnetic field command signal K Rotor The magnetic field vector and the ^ -axis estimated magnetic flux of a high-pass filter in series (please read the caution page on the back first). • Install-, this paper is generally Chinese national standard half (CNS > Eight 4 > see grid (211 ^ < 297 males) 49860 ° Λ7 η 彡, description of the invention κ κκ κκ σ Ministry of Finance and Economics Exhibition Jh Lθ „ωΓ τΓ σ Rs κ Ls Lr Lm High-pass filter y-axis estimated flux J-axis stator magnetic 7-axis stator magnetic flux, J-axis rotor magnetic flux, θ-axis magnetic flux leakage inductance, stator current feedback signal, stator current signal, 3-axis stator current, β-axis stator current slip angle filter, cutoff frequency, and estimated value of back-EMF rotor Time constant rotor leakage inductance motor Stator resistance motor Rotor resistance motor Stator self-induction motor rotor Self-induction motor rotor Mutual inductance between stator and rotor fi f Cooperation see Figure Three Hearts, which shows the magnetic flux and magnetic flux of this fat shirt In the slip estimation method of the present invention, the dynamic side of the above two (: magnetic flux in the rotor coordinate system (ω = ω.) Can be expressed as: This paper ruler corrects Λ7 V. Description of the invention (//) Κ = -Klwqsj, (14) (15) where the superscript 〃 indicates the rotation of the rotor coordinate system, so the stator magnetic ^ rotor coordinate system in this coordinate system rotates. The magnetic flux of the 疋 will be at the slip frequency 0) „Variable rotor magnetic flux at Τ- y coordinate flat The choice of height and axis is not unique, as long as the seat ::: = turn: can be 'and θ interesting angle' is the rotor magnetic field vector ...-θ ^ ηΆ / λ of the axis: (16) (Please read 汴 and pay attention first Section item νφ is filled with wooden 玎), 11 Printed by the Industrial and Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economics. Therefore, the slip frequency can be expressed as Xdr + K τ, lrl + Xrl (17) Substitute (5) · ⑹ into the formula The above formula can be rewritten as a vector: = r rr Xs (¾ is (18) Because the result of the inner (outer) product of the vector does not change with the coordinate system, so only the stationary coordinates 糸Can calculate the slip frequency ω〆 this paper rule ϋϊ Chinese National Standard Extraction (CNS) Λ4 specification (2 丨 0x297 / ^ 7 line • nm · Λ7 B7 V. Description of the invention (/ y = 在 本According to the invention's stator magnetic flux estimation method, the dynamic equations of the stator magnetic flux in the d-axis and q_-axis static coordinate system (ω = ()) can be expressed as:

Ks = VJs ^ Rsi ^ qs (19) (20): where the superscript s represents the stationary coordinate system. From equations (19)-(20), the following can be used to estimate the open-loop stator magnetic flux.

Kis = v] s-Hk, K-RX (21) (22) * 1so Intellectual Property Bureau of the Ministry of Economic Affairs g (printed by the Industrial and Consumer Cooperatives where 'superscript Λ represents the estimated value. Since (21) _ (22) The pure integral structure of the formula has problems with initial value and DC offset, so it is customary to connect a high-pass filter in series with each of (21) _ (22) to avoid these problems, that is, Ks = -milk XHK -Rsisds) ks = ^ cK + K-Rsisgs) (23) (24) where ^ and 及 are estimated magnetic fluxes connected in series with a high-pass filter, and the cut-off frequency of the ω 3 wave filter is a filter. CNS) Λ4 specification (210 × 297 mm) 13 498600 Λ7 Η 7 V. Description of the invention (f)) Because (23)-(24) type magnetic flux estimators have problems of phase shift and amplitude attenuation, and The offset is related to the frequency of the power supply and the stop frequency of the filter%. In order to overcome this problem, we design the cut-off frequency of the filter to be proportional to the frequency of the power supply, that is, coe = & e / A: The offset is constant, as long as the estimated magnetic flux values of equations (23)-(24) are multiplied by a constant matrix, the entire stator magnetic flux and slip frequency estimator block of sfl5 Tiger's can be restored. The figure is shown in Figure 3, where soap is the estimated value of back-EMF. The block diagram of the overall scalar control system of the sensorless induction motor of the present invention is shown in Figure 4. The system includes a stator magnetic flux and slip frequency estimation device 21, which directly determines the stator current value of the induction motor and The stator voltage value is estimated from the stator magnetic flux estimation value of the induction motor 22, and then the estimated stator magnetic flux estimation value is used to calculate the slip frequency compensation estimation value using the aforementioned slip calculation formula. The slip frequency compensation estimated value and the rotation speed command signal < after passing through a synchronous frequency command signal generating unit 23, a synchronous frequency command signal is generated and sent to the stator voltage output device 24, and the stator voltage output device 24 is based on the The signal and a certain voltage command signal generate an output stator voltage value to the inverter 25. The inverter 25 is a voltage-controlled inverter device, which drives the induction motor 22 based on the output stator voltage value of the stator voltage output device 24, and then the stator magnetic flux and slip frequency estimation device 21 uses the induction motor as the basis. The rotation speed is fed back and added to the rotation speed command signal to generate a power synchronization frequency signal to generate the slip frequency compensation of the induction motor, so that the induction motor 22 is maintained at a desired predetermined rotation speed. In the system architecture of the present invention, a step-up controller 26 is further included to increase the stator voltage command signal. The Zhang scale is applicable to the Chinese National Standard (CNS) Λ4 regulation; ~ ____ (read first and then> i) Intentional items are thrown and filled with wooden pages) 4 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 14 498600 A7 _ B7 V. Description of the invention (⑼ — to overcome the influence of the resistance voltage drop of the induction motor on the stator magnetic field strength In the preferred embodiment of the present invention, in order to avoid the influence of the magnetic flux estimation error, the boost controller 26 uses the differential value of the stator magnetic flux to time to design the boost controller. With the above system architecture and It can be seen from the description of the method that the scalar control method and system of the induction motor without the sensor provided by the present invention can directly determine the stator current value and the stator voltage of the induction motor without the need to attach a speed sensor. The estimated value of the stator magnetic flux of the induction motor is estimated, and then a slip frequency compensation value is calculated by a slip calculation formula based on the estimated stator magnetic flux, and finally according to a set speed command The slip frequency compensation value is used to compensate the slip frequency of the induction motor, so that the induction motor is maintained at a desired predetermined speed, so the present invention can indeed achieve the expected function, and has a high industrial use value. However, the above embodiments The description is only a description of the preferred embodiment of the present invention. Those skilled in the art can extend and expand the application of the present invention according to the spirit of this embodiment. However, these changes still belong to the inventive spirit of the present invention and the definitions below. The scope of patents. (Please read the precautions on the back before filling out this page) Order printed by the Intellectual Property Bureau of the Ministry of Economic Affairs, Consumer Cooperatives This paper is printed in accordance with China National Standard (CNS) A4 (210'Xg7mm)

Claims (1)

498600, patent application scope 1. A sensorless scalar control method of an induction motor, including: a. Obtaining the stator current value and the stator voltage value of the induction motor; b. According to the stator magnetic flux estimation method, Estimate the stator magnetic flux value of the induction motor by the stator current value and the stator voltage value; c. Calculate a slip frequency compensation value with a slip calculation formula based on the estimated stator magnetic flux; d According to a set rotation speed command and the slip frequency compensation value, the slip frequency compensation of the induction motor is performed, so that the induction motor is maintained at a desired predetermined rotation speed. 2. The method of scalar control of an induction motor without induction in patent application No. 丨 of the patent application, wherein the stator flux estimation method in step b is used to estimate the open-loop stator flux value of the induction motor. 3. ^ The method for controlling pure induction of induction motor without induction in the scope of patent application 'where the stator flux estimation method in step b is a stator flux estimation method in pressure mode, so as to be directly derived from the induction ^ The voltage value of the electric recording shirt is on the stator magnetic flux of the induction motor. Declaring the pure C method of the induction motor without a sensor in the scope of the patent, where the stator flux in step b is the estimated magnetic flux of the stator of the induction motor in the stationary coordinate system. This paper --- n n n n ϋ i n ϋ n II I n n It n n n n one-port, I I n n n n ϋ n I. (Please read the precautions on the back before filling this page) Printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs X Consumer cooperatives 6. Application for patent scope 5. = Pure sensorless induction motor control method without sensor in the scope of patent application 丨 where the estimated stator flux at the step is equal to the The difference between the stator voltage of the induction motor in the stationary coordinate system and the stator resistance multiplied by the stator current. 6 · = Sensorless induction motor pure control method of the patent scope of Shenyan Item = Control method, wherein the step further includes a step of increasing% to overcome the influence of the magnetic field strength of the resistance of the induction motor. 7 · = Pure sensor control method for sensorless induction motors in the scope of patent application, where the stator flux estimation method in step b further includes a high-pass filter connected in series to overcome the initial value of the estimated value And DC offset. 8 · = Pure sensor control method of sensorless induction motor in the scope of patent application No. 7, wherein the cut-off frequency of the high-pass filter is designed to be proportional to the power frequency of the induction motor to make the stator magnetic flux The phase offset of the estimated value is a constant value. 9. The method of scalar control of an induction motor without a sensor as described in the patent application No. 8 item, wherein the estimated value of the stator flux is further multiplied by a constant matrix to be corrected. This paper size applies to China National Standard (CNS) A4 (210 X 297 public love) It is shown as: The scope of patent application ΐ〇 · = The pure control method of the induction motor in item 8 of the scope of patent application, in which the cut-off frequency of the high-pass filter is proportional to the power frequency of the induction motor. 11. · The purely control method of the sensorless induction motor in item 7 of the Uli range, where the slip frequency compensation value% is based on the vector table LmK®l where ττ is the rotor time constant W is between the stator and the rotor of the motor The mutual inductance is the rotor magnetic field vector / 5 is the rotor magnetic field vector. 12. A scalar control method of an induction motor without a sensor, including: a. Obtaining a stator current value and a stator voltage value of the induction motor; b. According to a magnetic flux estimation method of a rafter, by the stator of the induction motor The current value and the stator voltage value are used to estimate the stator magnetic flux estimated value of the induction motor; c. The estimated back voltage of the induction motor is calculated based on the obtained stator voltage value; d. The stator magnetic flux estimated based on the side estimation The estimated value calculates a slip frequency compensation value; '— — — — — — — — — LI — Γ-IIIIIII «— — — III — — (Please read the notes on the back before filling this page) Intellectual Property of the Ministry of Economic Affairs Bureau employee consumer cooperative printed π 498600, patent application scope e. According to a set speed command and the slip frequency compensation value, the slip frequency compensation of the induction motor is made to keep the induction motor running at the desired predetermined speed. 13. For the scalar control method of an induction motor without a sensor, as described in item 12 of the patent application, the stator magnetic flux estimation method in step b is used to estimate the open-loop stator magnetic flux value of the induction motor. 14. For the scalar control method of an induction motor without a sensor, such as in item 12 of the patent application, wherein the stator magnetic flux estimation method in step b is a voltage mode stator magnetic flux estimation method, so that the induction can be directly performed by the induction. The stator current value and the stator voltage value of the motor estimate the stator magnetic flux of the induction motor. 15. For example, a sensorless induction motor control method according to item 12 of the patent application, wherein the stator magnetic flux in step b is the estimated magnetic flux of the stator of the induction motor in the stationary coordinate system. It is said that the sensorless induction motor employee in the 12th range of the special Γ range consumes one step of the estimated stator magnetic flux == the stator electrical value of the induction motor in the static coordinate system multiplied by the resistance of the mule Take the difference between the two after the stator current. The induction motor without sensor I printed in item 12 I. The stator magnetic flux estimation of t step = This paper size is applicable to the State of China " ^ Ticket printed by the Intellectual Property Bureau of the Ministry of Economic Affairs and Consumer Cooperatives printed 498600 A8- ----- ~ — __ VI. The scope of application for patents further includes the use of a high-pass filter connected in series to overcome the problem of the initial value of the estimated value and the DC offset. 18. For example, a pure and control method of an induction motor without a sensor in the patent application No. 17, wherein the cut-off frequency of the high-pass filter is designed to have a proportional relationship with the power frequency of the induction motor so that the stator magnetic flux can be estimated. The measured phase offset is a constant value. 19. For the scalar control method of an induction motor without a sensor as described in claim 17, wherein the estimated stator flux is further multiplied by a constant matrix for correction. 20. The sensorless scalar control method for sensorless motors as stated in item 17 of the patent, wherein the cut-off frequency of the high-pass filter is proportional to the power supply frequency of the induction motor. 21. The scalar control method of an induction motor without a sensor, as described in item 12 of the patent application, wherein step c further includes a step of increasing the voltage to overcome the influence of the resistance voltage drop of the induction motor on the stator magnetic field strength. 22 · —A scalar control device for an induction motor without a sensor, which cooperates with an inverter to control the speed of an induction motor according to a set speed command signal. The system includes: The paper size is applicable to Chinese National Standard (CNS) A4 Specifications (210 X 297) ^ --------- (Please read the phonetic on the back? Matters before filling out this page) 498600 Six Consumers Cooperatives of Intellectual Property Bureau of the Ministry of Economic Affairs printed A8 g ------------- D8____ The scope of patent application is a magnetic flux and slip frequency estimation device for estimating the stator magnetic flux estimation value of the induction motor and generating a rate compensation estimation value; 'A synchronous frequency command signal generating unit, according to the The estimated value of slip frequency compensation and the speed command signal generate a synchronous frequency command signal. Λ The stator voltage output device generates an output stator voltage value to the inverter based on the synchronous frequency command signal and a sub-voltage command signal; wherein the inverter The induction motor is driven according to the output stator voltage value of the stator voltage output device, and then the stator magnetic flux and slip frequency estimation device feedbacks according to the rotation speed of the induction motor 'and adds to the rotation speed command signal to generate a power synchronization frequency ^ [ Lu No. 'compensates for the slip frequency of the induction motor, so that the induction motor is maintained at a desired predetermined speed. 23. If the sensorless induction motor scalar control device of item 22 of the scope of patent application, the frequency converter is a voltage control type frequency conversion device. 24. A sensorless scalar control device for an induction motor such as the 22nd in the scope of the patent application, wherein the stator magnetic flux and slip frequency estimation device is directly estimated from the stator current value and the stator voltage value of the induction motor. Estimate the stator magnetic flux of the induction motor II n ϋ —in · 1 nn «ϋ .Γ ri nnnnnnn 1. v · n n n n ϋ n I wn (Please read the precautions on the back before filling in this page) This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) Α8 Β8 C8 No calculation. Values… Slip • Sensorless induction motors in the 24th patent range of the M patent: Inner control device ’where the estimated stator flux is the estimated flux of the stator of the motor at the stationary coordinate system. 26. For example, the inductive motor of the moneyless item No. 22 of the Patent Model, and the 'tungai control gear', wherein the estimated value of the stator magnetic flux is equal to the stator voltage value and stator resistance of the induction motor in the stationary coordinate system. Multiply the difference between the two by the stator current. 27. If the inductive motor of item 22 in the scope of the patent application is reduced;!: Control device, which further includes a back-EMF estimation device that estimates a back-EMF estimation value based on the stator voltage value of the induction motor, Based on this, a certain sub-voltage estimation value is generated to the stator voltage output device. --------- Γ l · .1 -------- ^ -------- (Please read the notes on the back before filling out this page) Intellectual Property Bureau, Ministry of Economic Affairs Employee Consumer Cooperative Association 28. If the sensorless scalar control device for sensorless motors in the 27th patent application scope, it further includes a boost device to boost the stator voltage command signal to overcome the resistance voltage drop of the induction motor Effect on the magnetic field strength of the stator. This paper size applies to China National Standard (CNS) A4 (210 X 297 mm)