CN102201777A - Control device and control method of induction motor - Google Patents
Control device and control method of induction motor Download PDFInfo
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- CN102201777A CN102201777A CN201110042433XA CN201110042433A CN102201777A CN 102201777 A CN102201777 A CN 102201777A CN 201110042433X A CN201110042433X A CN 201110042433XA CN 201110042433 A CN201110042433 A CN 201110042433A CN 102201777 A CN102201777 A CN 102201777A
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Abstract
The invention provides a control device and a control method of an induction motor capable of not deviating from the maximum torque action point without increasing the loss even under a light load. The control device (10) of the induction motor is a control device (10) of an induction motor (106) controlled by a vector, which comprises a torque instruction value generating part (11) and a magnetic flux command value generating part (12). The torque instruction value generating part (11) generates a torque instruction value (Tm * ) according to the detecting speed (omega m) or the estimated speed (omega m^) and the speed command value (omega m * ) of the induction motor (106). The torque instruction value (Tm * ) of the torque instruction value generating part (11) is inputted into the magnetic flux command value generating part (12) and then the magnetic flux command value generating part (12) generates a magnetic flux command (phi d *) for the driving at the maximum generating torque action point according to the rated torque (Tmn) and the rated current (In).
Description
Technical field
The present invention relates to the control device and the control method of induction motor, particularly the control device of controlled induction motor and control method by vector control.
Background technology
In the past, as the control device of induction motor, the control device of following induction motor has been done various motions, the control device of this induction motor has: negative circuit, and it provides the three-phase drive circuit to induction motor; And pwm circuit, it provides sinusoidal wave pwm signal to this negative circuit, wherein, exports control signal according to speed command signal and magnetic flux command signal from the outside to pwm circuit.(for example, with reference to patent documentation 1 and patent documentation 2)
Fig. 7 is the block diagram of structure that the control device of existing induction motor is shown.The control device 100 of induction motor shown in Figure 7 (hereinafter referred to as control device 100) is to be connected with induction motor (IM) 106 with three-phase alternating-current supply 101, and the control device of control of induction 106, and have: diode rectifier circuit 102, smoothing circuit 103, negative circuit 104, PWM gating signal maker 105, pulse generator (PG) transducer 107, current sensor 108, three-phase/two-phase coordinate converter 109, two-phase/dq coordinate converter 110, flux estimator 111, speed estimator 112, feedback speed switch 113, slip arithmetic unit 114, integrator 115, magnetic flux PI controller 116, flux current PI controller 117, speed PI controller 118, moment of torsion current PI controller 119, dq/ two-phase coordinate converter 120, and two-phase/three-phase coordinate converter 121.
On the other hand, control device 100 utilizes deviation operational part 124 arithmetic speed command value ω
m *With by the estimated velocity estimation value ω of speed estimator 112
m^ or the speed omega that is detected by pulse generator transducer 107
mBetween deviation delta ω
m, the deviation delta ω that is obtained
mBe imported into speed PI controller 118.Speed PI controller 118 is according to the deviation delta ω that is imported
mGenerate torque current command value I
q *Then, utilize deviation operational part 125 computing torque current command value I
q *With moment of torsion current i from two-phase/q axle that dq coordinate converter 110 is exported
qBetween deviation delta I
q, the deviation delta I that is obtained
qBe imported into moment of torsion current PI controller 119.Moment of torsion current PI controller 119 is according to the deviation delta I that is imported
qGenerate q shaft voltage instruction V
q *
The d shaft voltage instruction V that is exported from flux current PI controller 117
d *, and the q shaft voltage instruction V that exported from moment of torsion current PI controller 119
q *Be imported into dq/ two-phase coordinate converter 120.Dq/ two-phase coordinate converter 120 is according to d shaft voltage instruction V
d *, q shaft voltage instruction V
q *, and the phase angle θ that exported from integrator 115, the two-phase voltage instruction V of output α axle, β axle
α *, V
β *Two-phase voltage instruction V
α *, V
β *Be imported into two-phase/three-phase coordinate converter 121.Two-phase/three-phase coordinate converter 121 is according to the two-phase voltage instruction V that is imported
α *, V
β *Generate the three-phase voltage instruction V of U phase, V phase, W phase
u *, V
v *, V
w *The three-phase voltage instruction V that is generated
u *, V
v *, V
w *Be imported into PWM (Pulse Width Modulation, pulse-width modulation) gating signal maker 105.PWM gating signal maker 105 is by PWM control, according to three-phase voltage instruction V
u *, V
v *, V
w *The output voltage of control negative circuit 104.
In the structure chart of Fig. 7, three phase induction motor 106 is connected with control device 100, and current sensor 108 detects the current i of the W phase of induction motor 106
wWith U current i mutually
uIn addition, this current sensor 108 detects the current i of the two-phase (W phase, U phase) in the three-phase (U phase, V phase, W phase)
w, i
uYet, since three-phase current and be zero, thereby the current i of another phase of unique decision (V phase)
vAnd, the speed omega of induction motor 106
mDetect by pulse generator transducer 107.
The current i that is detected by current sensor 108
w, i
uBe imported into three-phase/two-phase coordinate converter 109.Three-phase/two-phase coordinate converter 109 is according to current i
w, i
uCarry out three-phase/two-phase Coordinate Conversion, generate the two-phase current i of α axle, β axle
α, i
β, it is outputed to two-phase/dq coordinate converter 110.Two-phase/dq coordinate converter 110 is according to two-phase current i
α, i
β, and the phase angle θ that exported from integrator 115, the flux current i of output d axle
dMoment of torsion current i with the q axle
q
On the other hand, flux estimator 111 is according to the two-phase voltage instruction V from 120 outputs of dq/ two-phase coordinate converter
α *, V
β *, with from two-phase current i that three-phase/two-phase coordinate converter 109 is exported
α, i
βGenerate the magnetic flux estimated value φ of α axle, β axle
α^, φ
β^ outputs to speed estimator 112 with it.Speed estimator 112 is according to magnetic flux estimated value φ
α^, φ
β^ formation speed estimated value ω
m^.Feedback speed switch 113 is such switches: can select to be to use velocity estimation value ω
m^, also be to use the speed omega that is detected by pulse generator transducer 107
mThe rate signal that uses as feedback switches.
Slip arithmetic unit 114 is according to the flux current command value I that is exported from magnetic flux PI controller 116
d *, and the torque current command value I that exported from speed PI controller 118
q *, the sliding speed estimated value ω of computing induction motor 106
s, arithmetic unit 126 input speed estimated value ω
m^ or speed omega
mWith sliding speed estimated value ω
s, computing ω
e=ω
m^+ ω
sPerhaps ω
e=ω
m+ ω
s, out-put supply angular frequency (negative circuit output angle frequency) ω
eThis ω
eBe converted to phase angle θ by integrator 115, be imported into two-phase/dq coordinate converter 110 and dq/ two-phase coordinate converter 120.
As mentioned above, in the past, under situation, used the vector control of controlling magnetic flux and moment of torsion respectively with low damage control induction motor (motor) 106.About moment of torsion, by detect the speed of induction motor 106, perhaps arithmetic speed estimated value ω at pulse generator transducer 107
m^ and use motor parameter and two-phase voltage instruction V
α *, V
β *, with from the current i of induction motor 106
w, i
uThe two-phase current i that obtains
α, i
βEstimated magnetic flux estimated value φ
α^, φ
β^ comes the rate signal (ω of feedback-induced motor 106
m^ or ω
m), to speed value ω
m *Between deviation delta ω
mCarry out PI (proportional integral) control, thereby generate torque current command value I
q *On the other hand, about magnetic flux, by the basic magnetic flux command value φ that calculates according to exciting current from induction motor 106
d *With magnetic flux estimated value φ
dDeviation delta φ between the ^
dCarry out PI control, generate flux current command value φ
d *According to each current instruction value I
q *, I
d *With current i to induction motor 106
w, i
uCarry out the current i on the rotational coordinates that Coordinate Conversion obtained (q axle, d axle)
q, i
dBetween deviation delta I
q, Δ I
dCarry out PI control, formation voltage command value V
q *, V
d *, finally be converted to the voltage instruction value V of three-phase alternating current
u *, V
v *, V
w *, generate the PWM gating signal, the switch motion of control negative circuit 104, driven induction motor 106.
[patent documentation 1] TOHKEMY 2000-308400 communique
[patent documentation 2] TOHKEMY 2001-037300 communique
Yet in the control device of existing induction motor, the problem that has is: be low loss running when induction motor turns round under near the state of nominal load, and under light-load state, because exciting current is constant, thereby departs from the peak torque operating point, loss increases.
Summary of the invention
The objective of the invention is in view of above-mentioned problem, under light-load state, also can keep the peak torque operating point and the control device or the control method of the induction motor of the increase that can avoid damage even provide a kind of.
The control device of the induction motor that the present invention relates in order to achieve the above object, is constructed as follows.
The control device of the 1st induction motor (corresponding to claim 1), this induction motor is implemented vector control, it is characterized in that this control device has: torque command value generating unit, it is according to detection speed or the estimating speed and the speed value generation torque command value of induction motor; And magnetic flux command value generating unit, its input is from the torque command value of torque command value generating unit, generates according to nominal torque and rated current to be used for the magnetic flux command value that drives at the peak torque operating point.
The control device of the 2nd induction motor (corresponding to claim 2), this induction motor is implemented vector control, it is characterized in that this control device has: torque command value generating unit, it is according to detection speed or the estimating speed and the speed value generation torque command value of induction motor; Magnetic flux command value generating unit, its input generates the 1st magnetic flux command value from the torque command value of torque command value generating unit; Low-intensity magnetic field magnetic flux command value generating unit, the 2nd magnetic flux command value when basic magnetic flux command value of its basis and detection speed or estimating speed generate low-intensity magnetic field control; Magnetic flux command value selection portion, it selects the either party in the 1st magnetic flux command value, the 2nd magnetic flux command value and the basic magnetic flux command value; And torque current command value generating unit, it generates the torque current command value according to either party and torque command value in the 1st magnetic flux command value of being selected by magnetic flux command value selection portion, the 2nd magnetic flux command value and the basic magnetic flux command value.
The control device of the 3rd induction motor (corresponding to claim 3) is characterized in that, in said structure, preferably, this control device has the limiter of the upper and lower bound of restriction the 1st magnetic flux command value.
The control device of the 4th induction motor (corresponding to claim 4) is characterized in that, in said structure, preferably, basic magnetic flux command value is that the exciting current according to induction motor obtains.
The control device of the 5th induction motor (corresponding to claim 5) is characterized in that, in said structure, preferably, magnetic flux command value generating unit has: the current instruction value operational part, and it generates the current instruction value of peak torque operating point; And magnetic flux instruction conversion portion, it generates the 1st magnetic flux command value according to the current instruction value and the mutual inductance that are generated by the current instruction value operational part.
The control method of the 1st induction motor (corresponding to claim 6), this induction motor is implemented vector control, it is characterized in that this control method has: the torque command value generates step, according to detection speed or the estimating speed and the speed value generation torque command value of induction motor; And the magnetic flux command value generates step, and input generates the torque command value that step obtains in the torque command value, generates according to nominal torque and rated current to be used for the magnetic flux command value that drives at the peak torque operating point.
The control method of the 2nd induction motor (corresponding to claim 7), this induction motor is implemented vector control, it is characterized in that this control method has: the torque command value generates step, according to detection speed or the estimating speed and the speed value generation torque command value of induction motor; The magnetic flux command value generates step, and input generates the torque command value that step obtains in the torque command value, generates the 1st magnetic flux command value; Low-intensity magnetic field magnetic flux command value generates step, the 2nd magnetic flux command value during according to basic magnetic flux command value and detection speed or the control of estimating speed generation low-intensity magnetic field; The magnetic flux command value is selected step, selects the either party in the 1st magnetic flux command value, the 2nd magnetic flux command value and the basic magnetic flux command value; And torque current command value generation step, either party and torque command value according in the 1st magnetic flux command value of being selected step to select by the magnetic flux command value, the 2nd magnetic flux command value and the basic magnetic flux command value generate the torque current command value.
The control method of the 3rd induction motor (corresponding to claim 8) is characterized in that, in said method, preferably, has the conditioning step of the upper and lower bound of restriction the 1st magnetic flux command value.
The control method of the 4th induction motor (corresponding to claim 9) is characterized in that, in said method, preferably, basic magnetic flux command value is that the exciting current according to induction motor obtains.
The control method of the 5th induction motor (corresponding to claim 10) is characterized in that, in said method, preferably, the magnetic flux command value generates step to be had: current instruction value calculation step, the current instruction value of generation peak torque operating point; With magnetic flux instruction conversion step, generate the 1st magnetic flux command value according to the current instruction value and the mutual inductance that generate by the current instruction value calculation step.
According to the present invention, owing to have magnetic flux command value generating unit, this magnetic flux command value generating unit input is from the torque command value of torque command value generating unit, generate according to nominal torque and rated current and to be used for the magnetic flux command value that drives at the peak torque operating point, thereby can become the magnetic flux instruction that peak torque is moved according to the desired torque command real-time operation of motor, do not carry out complicated gain adjustment, the efficient in the time that underload can being improved.And, owing to utilize magnetic flux command value selection portion to select either party in the 1st magnetic flux command value, the 2nd magnetic flux command value and the basic magnetic flux command value, thus attainable be that even change the magnetic flux instruction, control also can be stablized.Thus, though can provide under light-load state, also can keep the peak torque operating point, the control device or the control method of the induction motor that increases of can avoiding damage.
Description of drawings
Fig. 1 is the block diagram of structure that the control device of the induction motor that present embodiment of the present invention relates to is shown.
Fig. 2 is the block diagram of the low damage control device in the control device of the induction motor that relates to of present embodiment of the present invention.
Fig. 3 is the figure that the peak torque operating point of induction motor is shown.
Fig. 4 is the figure that the limited field of magnetic flux command value is shown.
Fig. 5 is the figure that the magnetic flux command value in the low-intensity magnetic field control is shown.
Fig. 6 is the figure that the magnetic flux command value variable range in the velocity band is shown.
Fig. 7 is the block diagram of structure that the control device of existing induction motor is shown.
Label declaration
10: the control device of induction motor; 11: torque command value generating unit; 12: magnetic flux command value generating unit; 13: torque current command value generating unit; 14: low damage control device; 15: limiter; 16: magnetic flux Instruction Selection device; 17: low-intensity magnetic field magnetic flux command value arithmetic unit; 18: magnetic flux Instruction Selection device control part; 101: three-phase alternating-current supply; 102: diode rectifier circuit; 103: smoothing circuit; 104: negative circuit; 105:PWM gating signal maker; 106: induction motor; 107: pulse generator (PG) transducer; 108: current sensor; 109: three-phase/two-phase coordinate converter; 100: the control device of induction motor; 110: two-phase/dq coordinate converter; 111: flux estimator; 112: speed estimator; 113: the feedback speed switch; 114: the slip arithmetic unit; 115: integrator; 116: magnetic flux PI controller; 117: flux current PI controller; 118: speed PI controller; 119: moment of torsion current PI controller; 120:dq/ two-phase coordinate converter; 121: two-phase/three-phase coordinate converter.
Embodiment
Below, preferred implementation of the present invention (embodiment) is described with reference to the accompanying drawings.
Fig. 1 is the block diagram of structure that the control device of the induction motor that present embodiment of the present invention relates to is shown.Basic mount structure has the structural element identical with existing control device shown in Figure 7 100, yet is added to the structure of Fig. 7 and has done change as the frame that is used to hang down the damage control of feature of the present invention.So, the inscape identical with existing control device shown in Figure 7 100 enclosed same numeral, omit explanation.
The control device 10 of induction motor shown in Figure 1 (hereinafter referred to as control device 10) is to be connected with induction motor (IM) 106 with three-phase alternating-current supply 101, and the control device of control of induction 106, and have: diode rectifier circuit 102, smoothing circuit 103, negative circuit 104, PWM gating signal maker 105, pulse generator (PG) transducer 107, current sensor 108, three-phase/two-phase coordinate converter 109, two-phase/dq coordinate converter 110, flux estimator 111, speed estimator 112, feedback speed switch 113, slip arithmetic unit 114, integrator 115, magnetic flux PI controller 116, flux current PI controller 117, moment of torsion current PI controller 119, dq/ two-phase coordinate converter 120, and two-phase/three-phase coordinate converter 121.
And, as feature structure of the present invention, have: low damage control device 14 with torque command value generating unit 11, magnetic flux command value generating unit 12 and torque current command value generating unit 13; Limiter 15; Magnetic flux Instruction Selection device 16; Low-intensity magnetic field magnetic flux command value arithmetic unit 17; And magnetic flux Instruction Selection device control part 18.Magnetic flux Instruction Selection device 16 and magnetic flux Instruction Selection device control part 18 constitute magnetic flux command value selection portion.
In the vector control of existing induction motor, as shown in Figure 7, the PI controller 118 of speed control and flux controlled PI controller 116 are independently, and magnetic flux PI controller 116, speed PI controller 118 are output as the current instruction value i of flux component (d axle), torque component (q) axle
d *, i
q *In the present invention, from magnetic flux command value generating unit 12 computings the 1st magnetic flux command value φ of torque command value generating unit 11 and low damage control device 14
D1 *
As described later in detail, low damage control device 14 is according to the torque command value T that is imported
m *, utilize magnetic flux command value generating unit 12 to become the magnetic flux command value φ of peak torque operating point
D10 *, it is outputed to limiter 15 (the magnetic flux command value generates step).And low damage control device 14 utilizes torque current command value generating unit 13, according to torque command value T
m *With by magnetic flux Instruction Selection device 16 selected magnetic flux command value φ
d *, output torque current instruction value T
q *(the torque current command value generates step).
15 pairs of magnetic flux command value of limiter φ
D10 *The upper and lower bound restriction is set, output magnetic flux command value φ
D1 *(conditioning step).About the upper limit because maximal efficiency point under rated load condition and existing vector control are roughly the same, thereby with shown in (1) formula according to exciting current I
0The basic magnetic flux command value φ that obtains
D0 *Limit.
φ
d0 *＝(3/2)×L
m×I
0......(1)
φ
D0 *: basic magnetic flux command value, L
m: mutual inductance, I
0: exciting current
And,, need only characteristic, particularly mutual inductance L according to induction motor about lower limit
mSize decision get final product, for example, with magnetic flux command value φ substantially roughly
D0 *25% limit.
In order to carry out low-intensity magnetic field control in the operation range of the rated speed that surpasses induction motor 106, low-intensity magnetic field magnetic flux command value arithmetic unit 17 is according to (2) formula computing the 2nd magnetic flux command value φ
D2 *And with its output (low-intensity magnetic field magnetic flux command value generates step).
φ
d2 *＝(N
base/N
ref)×φ
d0 *......(2)
φ
D2 *: the 2nd magnetic flux command value, N
Base: rated speed, N
Ref: rotary speed instruction value, φ
D0 *: basic magnetic flux command value
Magnetic flux Instruction Selection device 16 is selected the 1st magnetic flux command value φ
D1 *, the 2nd magnetic flux command value φ
D2 *With basic magnetic flux command value φ
D0 *In either party's (magnetic flux command value select step).This selection control is undertaken by magnetic flux Instruction Selection device control part 18.
Magnetic flux Instruction Selection device control part 18 is according to speed value ω
m *With by the estimated velocity estimation value ω of speed estimator 112
m^ or the speed omega that is detected by pulse generator transducer 107
m, judge whether induction motor 106 is in the acceleration and deceleration.In the acceleration and deceleration of induction motor 106, moment of torsion changes easily, and control is unstable easily, thereby magnetic flux Instruction Selection device 16 is connected with terminal 16a, so that with basic magnetic flux command value φ
D0 *Control.In addition, stable state and acceleration and deceleration state are according to speed value ω
m *And speed omega
mOr velocity estimation value ω
mWhether the difference of ^ is differentiated within the specific limits.
And magnetic flux Instruction Selection device control part 18 judges whether induction motor 106 is the operation range that surpass rated speed.At induction motor 106 is to surpass under the situation of operation range of rated speed, owing to become stable output control, thereby carry out according to (2) formula computing the 2nd magnetic flux command value φ
D2 *Therefore the low-intensity magnetic field control of controlling be connected magnetic flux Instruction Selection device 16 with terminal 16b.
And magnetic flux Instruction Selection device control part 18 is according to speed value ω
m *With by the estimated velocity estimation value ω of speed estimator 112
m^ or the speed omega that is detected by pulse generator transducer 107
m, judge whether it is below the minimum speed threshold value.Even at low-speed region, magnetic flux command value φ
d *Under the also little situation, particularly, under the situation of the control of carrying out Speedless sensor, control is unstable easily, thereby by switching to basic magnetic flux command value φ
D0 *, can from the low-speed region to the high-speed region, carry out stable control.In addition, the minimum speed threshold value of low speed side can be set different values at each induction motor.
Then, magnetic flux Instruction Selection device control part 18 is connected magnetic flux Instruction Selection device 16 except above-mentioned situation with terminal 16c, exports the 1st magnetic flux command value φ
D1 *
On the other hand, control device 10 utilizes the torque current command value I that 125 computings of deviation operational part are exported from low damage control device 14
q *With moment of torsion current i from two-phase/q axle that dq coordinate converter 110 is exported
qBetween deviation delta I
q, the deviation delta I that is obtained
qBe imported into moment of torsion current PI controller 119.Moment of torsion current PI controller 119 is according to the deviation delta I that is imported
qGenerate q shaft voltage instruction V
q *
The d shaft voltage instruction V that is exported from flux current PI controller 117
d *, and the q shaft voltage instruction V that exported from moment of torsion current PI controller 119
q *Be imported into dq/ two-phase coordinate converter 120.Dq/ two-phase coordinate converter 120 is according to d shaft voltage instruction V
d *, q shaft voltage instruction V
q *, and the phase angle θ that exported from integrator 115, to d shaft voltage instruction V
d *With q shaft voltage instruction V
q *Carry out Coordinate Conversion, the two-phase voltage instruction V of output α axle, β axle
α *, V
β *Two-phase voltage instruction V
α *, V
β *Be imported into two-phase/three-phase coordinate converter 121.Two-phase/three-phase coordinate converter 121 is according to the two-phase voltage instruction V that is imported
α *, V
β *Carry out two-phase/three-phase Coordinate Conversion, generate the three-phase voltage instruction V of U phase, V phase, W phase
u *, V
v *, V
w *The three-phase voltage instruction V that is generated
u *, V
v *, V
w *Be imported into PWM (Pulse Width Modulation, pulse-width modulation) gating signal maker 105.PWM gating signal maker 105 is by PWM control, according to three-phase voltage instruction V
u *, V
v *, V
w *The output voltage of control negative circuit 104.
Fig. 2 is the mount structure figure of low damage control device 14.Low damage control device 14 has magnetic flux command value generating unit 12 and torque current command value generating unit 13.Magnetic flux command value generating unit 12 has filter 20, limiter 21, current-order operational part 22 and (3/2) L
mOperational part 23.Torque current command value generating unit 13 has (1/K
T(φ
d *)) T
m *Operational part 24.Magnetic flux command value generating unit 12 is torque command value T in the output of 20 pairs of torque command values of filter generating unit 11
m *Carry out Filtering Processing, under the little situation of torque command value, utilize limiter 21 afterwards with predetermined value, for example 10% implement restriction, obtain the current instruction value (current instruction value calculation step) of peak torque operating point at current-order operational part 22, then, at (3/2) L
mOperational part (magnetic flux instruction conversion gain module) 23 multiply by mutual inductance and exports magnetic flux command value φ
D10 *(magnetic flux instruction conversion step).On the other hand, torque current command value generating unit 13 is according to torque command value T
m *With by magnetic flux Instruction Selection device 16 selected magnetic flux command value φ
d *, at (1/K
T(φ
d *)) T
m *Operational part (contrary torque coefficient module) 24 multiply by contrary torque coefficient 1/K
TConvert output torque current instruction value I
q *(the torque current command value generates step).
Then, adopt the structure of Fig. 2 to become the reason of low loss running with reference to Fig. 3 explanation by making low damage control device 14 below.
The relation of the moment of torsion during vector control, magnetic flux, primary current is represented by (3) formula and (4) formula respectively.
T
m＝(pL
m/L
r)i
qφ
d＝K
Ti
qφ
d ......(3)
φ
d＝(L
m/(1+τ
rs))i
d ......(4)
(3) variable of formula and (4) formula is represented following value.
T
m: moment of torsion, φ
d: magnetic flux, i
d: flux current, i
q: moment of torsion electric current, L
m: mutual inductance, L
r: secondary inductance, τ
r: secondary time constant, p: motor number of pole-pairs, K
T: torque coefficient, s: Laplacian (differential operator)
Here, when using (5) formula, the effective value I according to current phasor retrains flux current i
dWith the moment of torsion current i
qConcern the time, with (3) formula and (4) formula substitution (5) formula, variable torque is (6) formula.(but supposition Laplacian s=0 in stable state).
I＝(i
d 2+i
q 2)
1/2 ......(5)
T
m＝K
TL
mi
qi
d
＝K
TL
mi
d(I
2-i
d 2)
1/2 ......(6)
Therefore, shown in (6) formula, torque T
mBecome flux current i
dFunction.(5) formula is being among the figure of coordinate with q axle shown in Figure 3, d axle, by the electric current restriction circle C of radius I
1Expression.And (6) formula is represented by moment of torsion constant curve T.With electric current restriction circle C
1Tangent moment of torsion constant curve T is peak torque curve T
Max, electric current restriction circle C
1With peak torque curve T
MaxPoint of contact A be the peak torque operating point.
Therefore, by with flux current i
d(6) formula is carried out differential to be obtained and becomes 0 flux current i
d, can calculate at flux current i
dThe maximum point of moment of torsion.Its result is as flux current i
dWhen satisfying the condition of (8) formula, moment of torsion is got maximum.
dT
m/di
d＝K
TL
m((I
2-i
d 2)
1/2-i
d 2/(I
2-i
d 2)
1/2)＝0 ......(7)
i
d＝I/2
1/2 ......(8)
(8) formula means, when reaching as 1/2 of the I of the effective value of current phasor
1/2, that is, when on the straight line of angle 45 degree that form with q axle shown in Figure 3, current phasor occurring, can drive at the peak torque operating point.
Therefore, in order to drive, be torque command value T at the output of torque command value generating unit 11 at the peak torque operating point
m *, according to nominal torque T
MnWith rated current I
n, utilize (9) formula computing and torque command value T
m *The big or small I of suitable current phasor.(computing of the current-order operational part 22 of Fig. 2)
I＝(T
m */T
mn)(I
n/2
1/2)......(9)
And, for computing magnetic flux command value φ
d *, will be according to the result after the conversion of (10) formula as magnetic flux command value φ
D10 *(computing of the magnetic flux instruction conversion gain module 23 of Fig. 2)
φ
d10 *＝(3/2)L
m·I ......(10)
And, torque current command value I
q *Be shown in (11), to pass through with torque command value T
m *Multiply by torque coefficient K
rInverse obtain.(computing of the contrary torque coefficient module 24 of Fig. 2)
I
q *＝(1/K
r)·T
m * ......(11)
Here, K
r=K
Tφ
d *
Below, the raising countermeasure of the control stability of carrying out in control device 10 is described.In original vector control, be basic the magnetic flux instruction being kept control under the constant state, under the situation that the magnetic flux instruction is changed, use then control same as before and become unstable.Therefore, in the present embodiment, implement, so that control can not become unstable at the countermeasure of following explanation.
At first, as countermeasure 1, torque command value T is described
m *Filtering Processing.Owing to original magnetic flux is that steady state value makes control stabilization, thereby as torque command value T
m *During frequent variations, magnetic flux command value φ
d *Also change and instability.And, because magnetic flux command value φ
d *Need not to change with fast response, thereby to being used for computing magnetic flux command value φ
d *Torque command value T
m *Carry out in the Filtering Processing shown in the filter 20 of Fig. 2.And owing to also have such situation, promptly torque command thereby under the little situation of torque command, by for example 10% to implement restriction, makes control further stable with about 10% value change and make control become unstable when non-loaded.This countermeasure 1 is realized by the limiter 21 of low damage control device 14.
Below, as countermeasure 2, with magnetic flux command value φ
d *The upper and lower bound limit setting as follows.Make under the variable situation of magnetic flux command value, as shown in Figure 4, to magnetic flux command value capping and lower limit.About the upper limit, because maximal efficiency point under rated load condition and existing vector control are roughly the same, thereby with the basic magnetic flux command value φ that obtains according to exciting current shown in (1) formula
D0 *Limit.And,, need only characteristic, particularly mutual inductance L according to induction motor about lower limit
mSize decision get final product, for example, with magnetic flux command value φ substantially roughly
D0 *25% limit.This countermeasure 2 is realized by the limiter 15 of control device 10.
And, as countermeasure 3, with the magnetic flux command value φ in the acceleration and deceleration of induction motor
d *Be set as follows.In the acceleration and deceleration of motor, moment of torsion changes easily, and control is unstable easily, thereby the magnetic flux command value φ in the acceleration and deceleration
d *Immutable, with the basic magnetic flux command value φ shown in (1) formula
D0 *Control.In addition, stable state and acceleration and deceleration state are whether basis is to differentiate in the certain limit at instruction frequency, negative circuit output frequency.This countermeasure 3 is realized by the switching (to the switching of terminal 16a) of the magnetic flux command value of being undertaken by the magnetic flux Instruction Selection device 16 by control device 10.
And, as countermeasure 4, will be based on the magnetic flux command value φ of low-intensity magnetic field control
d *Be set as follows.Owing in the operating range of the rated speed that surpasses induction motor, be stable output control, thereby carry out according to (2) formula computing magnetic flux command value φ
d *The low-intensity magnetic field control of controlling.At this moment, although magnetic flux command value φ
d *Be characteristic shown in Figure 5, yet when in the low damage control, making magnetic flux command value φ
d *Further when variable, it is unstable that the control in the low-intensity magnetic field control area becomes, thereby when low-intensity magnetic field control, switch to the basic magnetic flux command value φ of use
D0 *, rated speed N
BaseWith rotary speed instruction value N
RefThe magnetic flux command value that in (2) formula, calculates.This is by carrying out like this: switch to terminal 16b by the magnetic flux Instruction Selection device 16 with Fig. 2 and switch to output from low-intensity magnetic field magnetic flux command value arithmetic unit 17.
On the other hand, even at low-speed region, magnetic flux command value φ
d *Under the also little situation, particularly, under the situation of the control of carrying out Speedless sensor, control is unstable easily, thereby as shown in Figure 6 by switching to basic magnetic flux command value φ
D0 *, can from the low-speed region to the high-speed region, carry out stable control.In addition, the minimum speed threshold value of low speed side can be set different values at each induction motor.This countermeasure 4 is that the switching (to the switching of terminal 16a) of the magnetic flux command value of being undertaken by the magnetic flux Instruction Selection device 16 by control device 10 realizes.
As described above like that, by according to the desired torque command value of induction motor T
m *Obtain magnetic flux command value φ
d *, under any load condition, can both control at the peak torque operating point.And, as long as decision torque command value T
m *, with regard to unique decision magnetic flux command value φ
d *, thereby do not need the gain adjustment of trouble.On the other hand, at because magnetic flux command value φ
d *The unsteadiness of the control that changes and take place is utilized torque command value T
m *Filtering Processing, magnetic flux command value φ
d *Restriction processing, magnetic flux command value φ
d *The function of switching sequence etc. take some countermeasures, realize stable control.
In addition, in the present embodiment, be provided with feedback speed switch 113, can select to be to use velocity estimation value ω
m^, also be to use the speed omega that is detected by pulse generator transducer 107
mThe rate signal that uses as feedback switches, however the present invention also can be applied among the either party in the following control device, that is, constitute and be not provided with feedback speed switch 113 and operating speed estimated value ω
m^ perhaps constitutes the speed omega that use is detected by pulse generator transducer 107 as the control device of the rate signal of feedback use
mAs the control device that feeds back the rate signal that uses.
About structure illustrated in above execution mode, shape, size and configuration relation, only done to briefly show on the degree of the present invention can understanding and implement, and about the composition (material) of numerical value and each structure etc., only illustration.Therefore, the present invention is not limited to illustrated execution mode, only otherwise deviate from the technological thought scope shown in claims, just can change to variety of way.
The control device of the induction motor that the present invention relates to and control method can be used as the device driven and the method for control of induction.
Claims (10)
1. the control device of an induction motor, this induction motor is implemented vector control, and this control device is characterised in that this control device has:
Torque command value generating unit, it is according to detection speed or the estimating speed and the speed value generation torque command value of described induction motor; And
Magnetic flux command value generating unit, its input be from the described torque command value of described torque command value generating unit, generates according to nominal torque and rated current to be used for the magnetic flux command value that drives at the peak torque operating point.
2. the control device of an induction motor, this induction motor is implemented vector control, and this control device is characterised in that this control device has:
Torque command value generating unit, it is according to detection speed or the estimating speed and the speed value generation torque command value of described induction motor;
Magnetic flux command value generating unit, its input generates the 1st magnetic flux command value from the described torque command value of described torque command value generating unit;
Low-intensity magnetic field magnetic flux command value generating unit, the 2nd magnetic flux command value when basic magnetic flux command value of its basis and described detection speed or described estimating speed generate low-intensity magnetic field control;
Magnetic flux command value selection portion, it selects the either party in described the 1st magnetic flux command value, described the 2nd magnetic flux command value and the described basic magnetic flux command value; And
Torque current command value generating unit, it generates the torque current command value according to either party and described torque command value in described the 1st magnetic flux command value, described the 2nd magnetic flux command value and the described basic magnetic flux command value selected by described magnetic flux command value selection portion.
3. the control device of induction motor according to claim 2 is characterized in that, this control device has the limiter of the upper and lower bound of described the 1st magnetic flux command value of restriction.
4. according to the control device of claim 2 or 3 described induction motors, it is characterized in that described basic magnetic flux command value is to obtain according to the exciting current of described induction motor.
5. according to the control device of each the described induction motor in the claim 2～4, it is characterized in that described magnetic flux command value generating unit has: the current instruction value operational part, it generates the current instruction value of peak torque operating point; And magnetic flux instruction conversion portion, it generates described the 1st magnetic flux command value according to the described current instruction value and the mutual inductance that are generated by described current instruction value operational part.
6. the control method of an induction motor, this induction motor is implemented vector control, and this control method is characterised in that this control method has:
The torque command value generates step, according to detection speed or the estimating speed and the speed value generation torque command value of described induction motor; And
The magnetic flux command value generates step, and input generates the described torque command value that step obtains in described torque command value, generates according to nominal torque and rated current to be used for the magnetic flux command value that drives at the peak torque operating point.
7. the control method of an induction motor, this induction motor is implemented vector control, and this control method is characterised in that this control method has:
The torque command value generates step, according to detection speed or the estimating speed and the speed value generation torque command value of described induction motor;
The magnetic flux command value generates step, and input generates the described torque command value that step obtains in described torque command value, generates the 1st magnetic flux command value;
Low-intensity magnetic field magnetic flux command value generates step, the 2nd magnetic flux command value during according to basic magnetic flux command value and described detection speed or the control of described estimating speed generation low-intensity magnetic field;
The magnetic flux command value is selected step, selects the either party in described the 1st magnetic flux command value, described the 2nd magnetic flux command value and the described basic magnetic flux command value; And
The torque current command value generates step, either party and described torque command value according in described the 1st magnetic flux command value, described the 2nd magnetic flux command value and the described basic magnetic flux command value of being selected step to select by described magnetic flux command value generate the torque current command value.
8. the control method of induction motor according to claim 7 is characterized in that, this control method has the conditioning step of the upper and lower bound of described the 1st magnetic flux command value of restriction.
9. according to the control method of claim 7 or 8 described induction motors, it is characterized in that described basic magnetic flux command value is to obtain according to the exciting current of described induction motor.
10. according to the control method of each the described induction motor in the claim 7～9, it is characterized in that described magnetic flux command value generates step to be had: current instruction value calculation step, the current instruction value of generation peak torque operating point; And magnetic flux instruction conversion step, generate described the 1st magnetic flux command value according to the described current instruction value and the mutual inductance that generate by described current instruction value calculation step.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010073248A JP5600989B2 (en) | 2010-03-26 | 2010-03-26 | Control device and control method for induction motor |
| JP2010-073248 | 2010-03-26 |
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| Publication Number | Publication Date |
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| CN102201777A true CN102201777A (en) | 2011-09-28 |
| CN102201777B CN102201777B (en) | 2013-12-18 |
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|---|---|---|---|
| CN201110042433XA Expired - Fee Related CN102201777B (en) | 2010-03-26 | 2011-02-22 | Control device and control method of induction motor |
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| JP (1) | JP5600989B2 (en) |
| CN (1) | CN102201777B (en) |
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| CN102710205A (en) * | 2012-06-13 | 2012-10-03 | 深圳市汇川技术股份有限公司 | Orientation control system and method for asynchronous motor |
| CN102832874A (en) * | 2012-02-24 | 2012-12-19 | 株洲南车时代电气股份有限公司 | System and method for controlling motor |
| CN103036497A (en) * | 2011-09-30 | 2013-04-10 | 三垦电气株式会社 | Control device and control method of synchronous motor |
| CN103378787A (en) * | 2012-04-16 | 2013-10-30 | 山洋电气株式会社 | Motor control device |
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| CN105790663A (en) * | 2014-08-25 | 2016-07-20 | 现代自动车株式会社 | Apparatus and method for compensating for torque for current order of driving motor |
| CN107251403A (en) * | 2015-02-27 | 2017-10-13 | 罗伯特·博世有限公司 | Method for the control device of asynchronous machine and for running asynchronous machine |
| CN111656674A (en) * | 2018-09-27 | 2020-09-11 | 东芝三菱电机产业系统株式会社 | Control device and control method for power conversion device, and motor drive system |
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| JP5957704B2 (en) * | 2011-12-09 | 2016-07-27 | パナソニックＩｐマネジメント株式会社 | Electric motor control device |
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| CN103036497A (en) * | 2011-09-30 | 2013-04-10 | 三垦电气株式会社 | Control device and control method of synchronous motor |
| CN103036497B (en) * | 2011-09-30 | 2015-04-08 | 三垦电气株式会社 | Control device and control method of synchronous motor |
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| CN103378787A (en) * | 2012-04-16 | 2013-10-30 | 山洋电气株式会社 | Motor control device |
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| CN103973186A (en) * | 2013-02-05 | 2014-08-06 | 山洋电气株式会社 | Motor control apparatus |
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| CN105790663A (en) * | 2014-08-25 | 2016-07-20 | 现代自动车株式会社 | Apparatus and method for compensating for torque for current order of driving motor |
| CN105790663B (en) * | 2014-08-25 | 2019-10-25 | 现代自动车株式会社 | For the device and method of the current-order compensation torque of drive motor |
| CN107251403A (en) * | 2015-02-27 | 2017-10-13 | 罗伯特·博世有限公司 | Method for the control device of asynchronous machine and for running asynchronous machine |
| CN107251403B (en) * | 2015-02-27 | 2019-10-01 | 罗伯特·博世有限公司 | Method for the control equipment of asynchronous machine and for running asynchronous machine |
| CN111656674A (en) * | 2018-09-27 | 2020-09-11 | 东芝三菱电机产业系统株式会社 | Control device and control method for power conversion device, and motor drive system |
| CN111656674B (en) * | 2018-09-27 | 2023-10-13 | 东芝三菱电机产业系统株式会社 | Control device, control method, and motor drive system for power conversion device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP5600989B2 (en) | 2014-10-08 |
| JP2011205857A (en) | 2011-10-13 |
| CN102201777B (en) | 2013-12-18 |
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