JP2012120429A - Flux controller for induction motor and flux controller of induction motor - Google Patents
Flux controller for induction motor and flux controller of induction motor Download PDFInfo
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- JP2012120429A JP2012120429A JP2011260613A JP2011260613A JP2012120429A JP 2012120429 A JP2012120429 A JP 2012120429A JP 2011260613 A JP2011260613 A JP 2011260613A JP 2011260613 A JP2011260613 A JP 2011260613A JP 2012120429 A JP2012120429 A JP 2012120429A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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Abstract
Description
本発明は誘導電動機用磁束制御装置に関し、より具体的にはセンサーレスベクター制御を適用した誘導電動機駆動インバータシステムにおいて低速領域における磁束推定性能低下現象を最小化できる磁束制御装置に関する。 The present invention relates to a magnetic flux control apparatus for induction motors, and more particularly to a magnetic flux control apparatus that can minimize a magnetic flux estimation performance deterioration phenomenon in a low speed region in an induction motor drive inverter system to which sensorless vector control is applied.
一般に、速度や位置センサーなしで誘導電動機を可変速駆動する方法として、開ループ（Ｏｐｅｎ ｌｏｏｐ）制御方式の電圧／周波数（Ｖ／ｆ）一定制御方式と、電動機回転子磁束の位置を電圧、電流及び電動機パラメーターを演算して推定するセンサーレスベクター制御方式があり、速度制御性能、負荷変動に対する制御性能は、後者のセンサーレスベクター制御方式が優れており、多く用いられている。 In general, as a method of driving an induction motor at a variable speed without a speed or position sensor, a voltage / frequency (V / f) constant control method of an open loop control method, a position of a motor rotor magnetic flux, a voltage, a current In addition, there is a sensorless vector control method for calculating and estimating motor parameters, and the latter sensorless vector control method is excellent in speed control performance and load fluctuation control performance, and is widely used.
ところが、センサーレスベクター制御方式では、低速区間で電動機を駆動するために必要な電圧の大きさが小さくなるとオフセット（ｏｆｆｓｅｔ）、デッドタイム（ｄｅａｄ ｔｉｍｅ）等の影響で電動機に入力される電圧(インバータ出力電圧)の推定に誤差が生じて磁束推定性能が低下し、低速では高速領域に比べて十分な性能が得られない場合が多い。 However, in the sensorless vector control method, when the voltage required to drive the motor in a low speed section becomes small, the voltage (inverter) input to the motor due to the influence of offset, dead time, etc. An error occurs in the estimation of the output voltage), and the magnetic flux estimation performance is lowered. In many cases, sufficient performance cannot be obtained at a low speed as compared with a high speed region.
図１は、速度(位置)センサーがないセンサーレスベクター制御方式で可変速駆動される誘導電動機システムのブロック図を示す。 FIG. 1 shows a block diagram of an induction motor system that is driven at a variable speed by a sensorless vector control method without a speed (position) sensor.
インバータ１０１は、センサーレス誘導電動機１０２をユーザが入力した速度指令（Ｗ＊ｍ）通りに運転するようにしている電圧をセンサーレス誘導電動機１０２に出力する。 The inverter 101 outputs to the sensorless induction motor 102 a voltage that causes the sensorless induction motor 102 to operate according to the speed command (W * m) input by the user.
減算器１０３は、外部から入力された速度指令（Ｗ＊ｍ）とセンサーレス磁束推定機１１５の出力中の一つの推定速度（Ｗｍ）を差し引いて速度誤差を検出する。 The subtractor 103 subtracts the speed command (W * m) input from the outside and one estimated speed (Wm) in the output of the sensorless magnetic flux estimator 115 to detect a speed error.
速度制御装置１０４は電流指令を出力する装置であり、Ｋｐ＿ｓは比例ゲインを、Ｋｉ＿ｓは積分ゲインを、ｓはラプラス演算子を示す。 The speed control device 104 is a device that outputs a current command, where Kp_s represents a proportional gain, Ki_s represents an integral gain, and s represents a Laplace operator.
減算器１０５は、トルク分電流指令（ｉ＊ｑ）とトルク分電流（ｉｄ）を差し引いてトルク分電流誤差を検出する。 The subtractor 105 subtracts the torque component current command (i * q) and the torque component current (id) to detect a torque component current error.
トルク電流制御装置１０６において、Ｋｐ＿ｑ符号は比例ゲイン、Ｋｉ＿ｑは積分ゲインを示す。 In the torque current control device 106, the Kp_q symbol indicates a proportional gain, and Ki_q indicates an integral gain.
減算器１０７は、磁束指令(λ＊ｄｒ)とセンサーレス磁束推定機１１５の出力の推定磁束(λｄｒ)を差し引いて磁束誤差を検出する。 The subtracter 107 detects a magnetic flux error by subtracting the magnetic flux command (λ * dr) and the estimated magnetic flux (λdr) output from the sensorless magnetic flux estimator 115.
磁束制御装置１０８において、Ｋｐ＿ｆは比例ゲインを、Ｋｉ＿ｆは積分ゲインを示す。 In the magnetic flux controller 108, Kp_f represents a proportional gain, and Ki_f represents an integral gain.
減算器１０９は、磁束分電流指令（ｉ＊ｄ）と磁束分電流（ｉｄ）を差し引いて磁束分電流誤差を検出する。 The subtractor 109 subtracts the magnetic flux current command (i * d) and the magnetic flux current (id) to detect a magnetic flux current error.
磁束電流制御装置１１０において、Ｋｐ＿ｄは比例ゲインを、Ｋｉ＿ｄは積分ゲインを示す。 In the magnetic flux current control device 110, Kp_d represents a proportional gain, and Ki_d represents an integral gain.
三相変換器１１１は、センサーレス磁束推定機１１５から誘導電動機１０２の回転子磁束の電気的回転角(θｅ)の入力を受けて、電流制御装置１０６、１１０の出力であるトルク分電圧指令（Ｖ＊ ｑ）と磁束分電圧指令（Ｖ＊ ｄ）を三相の電圧指令であるＶ＊ ａ、Ｖ＊ ｂ及びＶ＊ ｃに変換する。 The three-phase converter 111 receives an input of the electrical rotation angle (θe) of the rotor magnetic flux of the induction motor 102 from the sensorless magnetic flux estimator 115 and receives a torque divided voltage command (output from the current control devices 106 and 110). V * q ) and magnetic flux division voltage command (V * d ) are converted into V * a , V * b and V * c which are three-phase voltage commands.
電圧制御装置１１２は、電力用半導体素子(ＩＧＢＴ)を含み、三相の電圧指令であるＶ＊ ａ、Ｖ＊ ｂ及びＶ＊ ｃの入力を受けて、パルス幅変調(ＰＷＭ、Ｐｕｌｓｅ Ｗｉｄｔｈ Ｍｏｄｕｌａｔｉｏｎ)方式によって誘導電動機１０２に電圧指令Ｖ＊ ａ、Ｖ＊ ｂ及びＶ＊ ｃ値で制御された三相の出力電圧を印加する。 The voltage control device 112 includes a power semiconductor element (IGBT), receives V * a , V * b, and V * c , which are three-phase voltage commands, and receives pulse width modulation (PWM). A three-phase output voltage controlled by voltage command V * a , V * b and V * c values is applied to the induction motor 102 by a method.
各々の電流センサー１１３ａ、１１３ｂ、１１３ｃは、電圧制御装置１１２の三相出力線に接続されて、誘導電動機１０２に流れる三相電流であるｉａ、ｉｂ及びｉｃを検出する。 Each of the current sensors 113a, 113b, 113c is connected to the three-phase output lines of the voltage control unit 112 detects the i a, i b and i c is a three-phase current flowing through the induction motor 102.
二相変換装置１１４は、誘導電動機１０２の回転子の磁束角(θｅ)の入力を受けて、電動機三相電流ｉａ、ｉｂ及びｉｃをトルク分電流(ｉｑ)、磁束分電流(ｉｄ)に変換する。 The two-phase converter 114 receives the input of the magnetic flux angle (θe) of the rotor of the induction motor 102, converts the motor three-phase currents i a , i b, and ic into torque current (i q ) and magnetic flux current ( i d ).
センサーレス磁束推定機１１５は、電流センサー１１３ａ、１１３ｂ、１１３ｃから誘導電動機１０２の三相電流の入力を受けて、トルク電流制御装置１０６及び磁束電流制御装置１１０から電圧指令の入力を受けて、回転子磁束の回転角(θｅ)、回転子磁束の大きさ(λｄｒ)及び電動機回転子速度(Ｗｍ)を出力する。 The sensorless magnetic flux estimator 115 receives the input of the three-phase current of the induction motor 102 from the current sensors 113a, 113b, and 113c, receives the input of the voltage command from the torque current control device 106 and the magnetic flux current control device 110, and rotates. The rotation angle (θe) of the rotor magnetic flux, the magnitude (λdr) of the rotor magnetic flux, and the motor rotor speed (Wm) are output.
前記構成の作動をさらに具体的に説明すると、ユーザから誘導電動機１０２が回転すべき速度指令（Ｗ＊ｍ）が入力されると、減算器１０３は、速度指令（Ｗ＊ｍ）とセンサーレス磁束推定機１１５から出力された推定速度(Ｗｍ)を差し引いて速度誤差を計算し、これを速度制御装置１０４に入力する。速度制御装置１０４は、入力された速度誤差から誘導電動機１０２が速度指令（Ｗ＊ｍ）通り回転するようにするトルク分電流指令（ｉ＊ｑ）を計算する。 More specifically, the operation of the above configuration will be described. When a speed command (W * m) at which the induction motor 102 is to be rotated is input from the user, the subtracter 103 determines that the speed command (W * m) and the sensorless magnetic flux The speed error is calculated by subtracting the estimated speed (Wm) output from the estimator 115 and input to the speed control device 104. The speed controller 104 calculates a torque current command (i * q) that causes the induction motor 102 to rotate according to the speed command (W * m) from the input speed error.
減算器１０５は、速度制御装置１０４の出力であるトルク分電流指令（ｉ＊ｑ）と二相変換装置１１４の出力であるトルク分電流(ｉｑ)を差し引いたトルク分電流誤差を計算して、トルク電流制御装置１０６に入力する。 The subtractor 105 calculates a torque component current error obtained by subtracting the torque component current command (i * q) that is the output of the speed control device 104 and the torque component current (iq) that is the output of the two-phase converter 114. Input to the torque current control device 106.
トルク電流制御装置１０６は、入力されたトルク分電流誤差から誘導電動機１０２にトルク分電流(ｉｑ)が指令（ｉ＊ｑ）分流れるようにするトルク分電圧指令（Ｖ＊ｑ）を計算する。 The torque current control device 106 calculates a torque component voltage command (V * q) that causes the torque component current (iq) to flow to the induction motor 102 by the command (i * q) from the input torque component current error.
減算器１０７は、磁束指令(λ＊ｄｒ)とセンサーレス磁束推定機１１５から入力された磁束推定値(λｄｒ)を差し引いて磁束誤差を計算する。磁束指令(λ＊ｄｒ)値は、予め計算され、インバータ装置１０１の内部の記憶装置(図示せず)に保存される。式(１)において、Ｖ ｒａｔｅ及びＦｒｅｑ ｒａｔｅは、各々電動機定格電圧及び定格周波数である。 The subtractor 107 calculates a magnetic flux error by subtracting the magnetic flux command (λ * dr) and the estimated magnetic flux value (λdr) input from the sensorless magnetic flux estimator 115. The magnetic flux command (λ * dr) value is calculated in advance and stored in a storage device (not shown) inside the inverter device 101. In equation (1), V rate and Freq rate are the motor rated voltage and the rated frequency, respectively.
磁束制御装置１０８は、磁束誤差から誘導電動機１０２の内部磁束がλ＊ｄｒ通り確立されるようにする磁束分電流指令（ｉ＊ｄ）を計算する。減算器１０９は、磁束分電流指令（ｉ＊ｄ）と二相変換装置１１４の出力である磁束分電流(ｉｄ)を差し引いた磁束分電流誤差を計算し、磁束電流制御装置１１０に伝達する。 The magnetic flux controller 108 calculates a magnetic flux component current command (i * d) that causes the internal magnetic flux of the induction motor 102 to be established as λ * dr from the magnetic flux error. The subtractor 109 calculates a magnetic flux current error obtained by subtracting the magnetic flux current command (i * d) and the magnetic flux current (id), which is the output of the two-phase converter 114, and transmits it to the magnetic flux current controller 110.
磁束電流制御装置１１０は、磁束分電流誤差から誘導電動機１０２に磁束分電流が指令（ｉ＊ｄ）分流れるようにする磁束分電圧指令（Ｖ＊ｄ）を計算する。電流制御装置１０６、１１０の出力（ｖ＊ｑ、ｖ＊ｄ）は、三相変換装置１１１を介して三相の電圧指令(Ｖ＊ ａ、Ｖ＊ ｂ、Ｖ＊ ｃ)に変換され、電圧制御装置１１２に入力される。 The magnetic flux current control device 110 calculates a magnetic flux component voltage command (V * d) that causes the magnetic flux component current to flow to the induction motor 102 by the command (i * d) from the magnetic flux current error. The outputs (v * q, v * d) of the current control devices 106, 110 are converted into three-phase voltage commands (V * a , V * b , V * c ) via the three-phase converter 111, and the voltage Input to the control device 112.
三相変換装置１１１は、トルク分／磁束分電圧指令（ｖ＊ｑ、ｖ＊ｄ）及び誘導電動機１０２の回転子磁束の回転角(θｅ)の入力を受けて、式(２)、(３)を演算して、トルク分／磁束分の二相電圧指令を三相電圧指令に変換する。式(２)、(３)において、ＳＩＮ、ＣＯＳはｓｉｎｅ、ｃｏｓｉｎｅ三角関数を示す。 The three-phase converter 111 receives the torque / magnetic flux voltage command (v * q, v * d) and the rotation angle (θe) of the rotor magnetic flux of the induction motor 102, and receives the equations (2), (3 ) To convert a two-phase voltage command for torque / magnetic flux into a three-phase voltage command. In equations (2) and (3), SIN and COS represent sine and cosine trigonometric functions.
電圧制御装置１１２は、誘導電動機１０２へ三相変換装置１１１から伝送された電圧(Ｖ＊ ａ、Ｖ＊ ｂ、Ｖ＊ ｃ)が印加されるように、パルス幅変調方式により出力電圧を制御する。誘導電動機１０２の三相電流(ｉａ、ｉｂ、ｉｃ)は、三つの電流検出装置１１３ａ、１１３ｂ、１１３ｃを介して検出され、二相変換装置１１４を介してトルク分電流(ｉｑ)と磁束分電流(ｉｄ)に変換される。二相変換装置１１４は、式(４)、(５)の演算により、電動機の三相電流(ｉａ、ｉｂ、ｉｃ)を電動機出力トルク（Ｔｏｒｑｕｅ）に比例するトルク分電流(ｉｑ)と、これと９０度を成して電動機の磁束（Ｆｌｕｘ）に比例する電流(ｉｄ)に変換する。ここで、ｉｄ、ｉｑは、同期座標界における磁束分／トルク分電流を示し、ｉｄｓｓ、ｉｑｓｓは、停止座標界における磁束分／トルク分電流を示す。 The voltage control device 112 controls the output voltage by a pulse width modulation method so that the voltages (V * a , V * b , V * c ) transmitted from the three-phase conversion device 111 are applied to the induction motor 102. . The three-phase currents (ia, ib, ic) of the induction motor 102 are detected via the three current detection devices 113a, 113b, 113c, and the torque component current (iq) and the magnetic flux component current are detected via the two-phase converter 114. converted to (id). The two-phase converter 114 calculates the torque component current (iq) proportional to the motor output torque (Torque) from the three-phase current (ia, ib, ic) of the motor by the calculations of the equations (4) and (5). Is converted into a current (id) proportional to the magnetic flux (Flux) of the motor. Here, id and iq indicate the magnetic flux / torque current in the synchronous coordinate field, and ids s and iqs s indicate the magnetic flux / torque current in the stop coordinate field.
センサーレス磁束推定機１１５は、誘導電動機１０２の三相電流(ｉａ、ｉｂ、ｉｃ)とトルク電流制御装置１０６の出力（Ｖ＊ｑ）、磁束電流制御装置１１０の出力（Ｖ＊ｄ）の入力を受けて、誘導電動機１０２の回転子磁束の回転角(θｅ)、回転子磁束の大きさ(λｄｒ)及び電動機回転子速度(Ｗｍ)を出力する。センサーレス磁束推定機１１５は、図２のように内部的に磁束推定部２０２、回転角及び速度推定部２０３の２つの装置で構成されている。 The sensorless magnetic flux estimator 115 inputs the three-phase current (ia, ib, ic) of the induction motor 102, the output (V * q) of the torque current control device 106, and the output (V * d) of the magnetic flux current control device 110. In response, the rotor magnetic flux rotation angle (θe), rotor magnetic flux magnitude (λdr), and motor rotor speed (Wm) of the induction motor 102 are output. As shown in FIG. 2, the sensorless magnetic flux estimator 115 includes two devices, a magnetic flux estimator 202 and a rotation angle and speed estimator 203.
誘導電動機固定子回路方程式を利用すると、次の式(８)、(９)のようにｄ軸(磁束軸)、ｑ軸(トルク軸)固定子磁束推定値を算出することができる。式(８)、(９)において、ｒｓは、誘導電動機固定子抵抗であり、式において用いられた文字上段の記号「∧」は測定された実際値ではなく計算された推定値を示す。通常、式(８)、(９)の電圧として用いられる電圧値は、実測値ではなく式(６)で算出した指令値を用いる。 By using the induction motor stator circuit equation, it is possible to calculate the d-axis (flux axis) and q-axis (torque axis) stator flux estimation values as in the following formulas (8) and (9). In equations (8) and (9), r s is the induction motor stator resistance, and the upper symbol “∧” used in the equations indicates a calculated estimated value rather than a measured actual value. Usually, the command value calculated by the equation (6) is used as the voltage value used as the voltage of the equations (8) and (9), not the actually measured value.
式(８)、(９)から得られた固定子磁束から誘導電動機の固定子及び回転子との間の関係を利用して式(１０)、(１１)のように回転子磁束を計算できる。式(１０)、(１１)において、σＬｓは固定子漏れインダクタンスであり、式(１２)のように与えられる。式(１２)において、Ｌｓは誘導電動機の固定子インダクタンス、Ｌｒは回転子インダクタンス、Ｌｍは相互インダクタンスである。 Using the relationship between the stator and the rotor of the induction motor from the stator magnetic flux obtained from the equations (8) and (9), the rotor magnetic flux can be calculated as in the equations (10) and (11). . In Expressions (10) and (11), σLs is a stator leakage inductance, and is given by Expression (12). In Expression (12), Ls is a stator inductance of the induction motor, Lr is a rotor inductance, and Lm is a mutual inductance.
式(１１)、(１２)によって算出された回転子磁束は、回転角及び速度推定部２０３に供給され、式(１３)のように回転子磁束の回転角(θｅ)を計算する。式(１３)において、ｔａｎ−１は三角関数ｔａｎｇｅｎｔの逆関数である。センサーレス制御器種類に応じて、式(１３)の値をそのまま適用することもでき、式(１３)の値を元に位相固定ループ（ＰＬＬ、Ｐｈａｓｅ Ｌｏｃｋｅｄ Ｌｏｏｐ）等の追加的な演算が加えられることもある。 The rotor magnetic flux calculated by the equations (11) and (12) is supplied to the rotation angle and speed estimation unit 203, and the rotation angle (θe) of the rotor magnetic flux is calculated as in equation (13). In equation (13), tan −1 is an inverse function of the trigonometric function tangent. Depending on the type of sensorless controller, the value of equation (13) can be applied as it is, and additional operations such as a phase locked loop (PLL, Phase Locked Loop) are added based on the value of equation (13). Sometimes.
磁束推定部２０１の出力の一つである回転子磁束の大きさ(λｄｒ)は、式(１１)、(１２)から算出された停止座標界回転子磁束と、式(１３)の回転角から次の式(１４)のように計算される。 The magnitude (λdr) of the rotor magnetic flux, which is one of the outputs of the magnetic flux estimation unit 201, is calculated from the stop coordinate field rotor magnetic flux calculated from the equations (11) and (12) and the rotation angle of the equation (13). It is calculated as the following equation (14).
回転角及び速度推定部２０３では、回転角及び速度推定のために式(１３)を計算し、式(１３)で算出された磁束の電気的回転角を次の式(１５)を介して電動機極数を持って機械的回転角に変換する。式(１５)において、Ｐは誘導電動機極数である。また、式(１６)の演算を介して現在回転子の電気的回転角度を演算する。回転子速度も位相固定ループと同様な演算を解してより精度よく演算できる。式(１６)において、ｓはラプラス演算子である。 The rotation angle and speed estimation unit 203 calculates Equation (13) for estimating the rotation angle and velocity, and calculates the electric rotation angle of the magnetic flux calculated by Equation (13) through the following Equation (15). Convert to mechanical rotation angle with number of poles. In Expression (15), P is the number of induction motor poles. Also, the electrical rotation angle of the current rotor is calculated through the calculation of equation (16). The rotor speed can be calculated more accurately by solving the same calculation as that of the phase locked loop. In Expression (16), s is a Laplace operator.
式(１３)〜(１５)の磁束及び回転角推定部の結果値が計算されるためには、式(８)、(９)の固定子磁束を計算すべきであるが、この過程において積分演算が必要となる。ところが式(８)、(９)に用いられる電圧、電流値にオフセット（Ｏｆｆｓｅｔ）が含まれている場合、積分器が発散されて実用に使用できない恐れがある。一般に、このような発散問題を解決するために、直流(周波数０)成分の影響を取り除くために、次の式(１７)、(１８)のように積分演算後、ハイパスフィルタ（Ｈｉｇｈ Ｐａｓｓ Ｆｉｌｔｅｒ）を適用している。式(１６)、(１７)において、Ｔはハイパスフィルタの時定数である。 In order to calculate the magnetic flux of the equations (13) to (15) and the result value of the rotation angle estimation unit, the stator magnetic flux of the equations (8) and (9) should be calculated. Calculation is required. However, if the voltage and current values used in equations (8) and (9) include an offset (Offset), the integrator may diverge and cannot be used practically. In general, in order to solve such a divergence problem, in order to remove the influence of a direct current (frequency 0) component, a high-pass filter (High Pass Filter) is obtained after integration calculation as in the following formulas (17) and (18). Has been applied. In Expressions (16) and (17), T is a time constant of the high pass filter.
図３は、回転角及び速度推定部２０３の構成を示しており、回転角演算部３０２及び速度演算部３０３で構成される。回転角演算部３０２は、磁束推定部２０２から式(１７)、(１８)で計算される停止座標界回転子磁束の入力を受けて、式(１３)の逆三角関数演算を介して磁束の回転角(θｅ)を計算する。 FIG. 3 shows a configuration of the rotation angle and speed estimation unit 203, which includes a rotation angle calculation unit 302 and a speed calculation unit 303. The rotation angle calculation unit 302 receives the stop coordinate field rotator magnetic flux calculated by the equations (17) and (18) from the magnetic flux estimation unit 202, and calculates the magnetic flux through the inverse trigonometric function calculation of the equation (13). The rotation angle (θe) is calculated.
速度演算部３０３は、磁束の回転角(θｅ)を機械的回転角に変換及び微分して回転子の機械的回転速度(Ｗｍ)を計算するようになる。速度演算部３０３において、Ｐは電動機極数(ｐｏｌｅ)を示し、別の記憶装置(図示せず)に保存される。 The speed calculation unit 303 calculates the mechanical rotation speed (Wm) of the rotor by converting and differentiating the rotation angle (θe) of the magnetic flux into a mechanical rotation angle. In the speed calculation unit 303, P indicates the number of motor poles (pole), and is stored in another storage device (not shown).
センサーレスベクター制御で誘導電動機を駆動する場合、式(８)、(９)で用いた方式のように電動機逆起電力(固定子電圧−抵抗×電流)項を積分して電動機磁束を計算する方法が多く用いられる。インバータから誘導電動機に出力される電圧は、電動機回転速度と比例して高速では高い電圧、低速では低い電圧を要する。インバータ制御には電流センサー(図１の１１３ａ、１１３ｂ、１１３ｃ)等の各種アナログ素子が用いられるが、この過程において、計算／測定される電圧、電流にオフセット（Ｏｆｆｓｅｔ）が含まれることが多い。 When the induction motor is driven by sensorless vector control, the motor magnetic flux is calculated by integrating the motor back electromotive force (stator voltage−resistance × current) term as in the method used in equations (8) and (9). Many methods are used. The voltage output from the inverter to the induction motor requires a high voltage at high speed and a low voltage at low speed in proportion to the motor rotation speed. Various analog elements such as current sensors (113a, 113b, and 113c in FIG. 1) are used for the inverter control. In this process, an offset is often included in the calculated / measured voltage and current.
逆起電力が大きい高速領域では、インバータ出力電圧の大きさがオフセットの大きさに比べて十分に大きいため、式(８)、(９)の積分演算を行う上で問題はないが、逆起電力が小さく、インバータ出力電圧の大きさが小さいオフセット電圧に比べて十分に大きくない低速領域では、式(８)、(９)の演算がオフセットの影響を受けるようになり、結果として積分演算は発散するようになる。このため、式(８)、(９)の積分演算は、実用に用いられずオフセット(周波数０)の影響を最小限に抑えるために式(１７)、(１８)のようにハイパスフィルタを積分演算と共に用いることが多い。ハイパスフィルタを用いる場合、場合電圧、電流のオフセット問題は解決されるが、式(１７)、(１８)の演算はハイパズフィルタの時定数によって大きく影響を受けるが、電動機回転速度に比べてフィルタ時定数が十分大きくなければ必要とする磁束推定性能が得られない。従って、ハイパスフィルタの時定数は、電動機の主運転領域とフィルタの位相誤差特性を考慮して適宜選択されなければならない。しかし、このような方式は周波数が非常に低い領域ではフィルタ時定数もそれほど小さくならなければならず、これによる位相遅延等のハイパスフィルタの特性によって、良い磁束推定性能を根本的に期待し難い。 In the high-speed region where the back electromotive force is large, the magnitude of the inverter output voltage is sufficiently larger than the magnitude of the offset, so there is no problem in performing the integral calculation of equations (8) and (9). In the low speed region where the power is low and the magnitude of the inverter output voltage is not sufficiently large compared to the small offset voltage, the calculations of equations (8) and (9) are affected by the offset, and as a result, the integral calculation is It begins to diverge. For this reason, the integration operations of the equations (8) and (9) are not used practically and the high-pass filter is integrated as in the equations (17) and (18) in order to minimize the influence of the offset (frequency 0). Often used with arithmetic. When the high-pass filter is used, the voltage and current offset problems are solved, but the calculations of equations (17) and (18) are greatly affected by the time constant of the hyperpass filter, but the filter is compared with the motor rotation speed. If the time constant is not sufficiently large, the required magnetic flux estimation performance cannot be obtained. Therefore, the time constant of the high-pass filter must be appropriately selected in consideration of the main operating region of the motor and the phase error characteristic of the filter. However, in such a system, the filter time constant must be so small in a very low frequency region, and it is difficult to fundamentally expect good magnetic flux estimation performance due to the characteristics of the high-pass filter such as phase delay.
また、通常のセンサーレスベクター制御時電動機に入力される実電圧ではない制御器の指令電圧を持って磁束推定を実施するが、電圧の大きさが小さくなる低速領域では、デッドタイム（Ｄｅａｄ ｔｉｍｅ）による電圧誤差が磁束推定に影響を与えてしまい、磁束演算に用いられる指令電圧と電動機に実際に入力される電圧間に誤差が生じ、その分磁束推定に誤差として働く問題が生じる。 In addition, the magnetic flux estimation is performed with the controller command voltage that is not the actual voltage input to the motor during normal sensorless vector control. However, in the low speed region where the magnitude of the voltage is small, the dead time (Dead time) The voltage error due to the above affects the magnetic flux estimation, and an error occurs between the command voltage used for the magnetic flux calculation and the voltage actually input to the electric motor.
本発明は、前記問題を解決するために案出され、速度(位置)センサーを備えない誘導電動機を可変速駆動するインバータ−電動機駆動システムに取り付けられる電動機磁束制御装置に関し、本発明の目的は、電圧の大きさが小さい低速区間でもセンサーレス磁束推定性能を維持できる磁束制御装置を提供することである。 The present invention relates to an electric motor magnetic flux control device that is devised to solve the above-mentioned problem and is attached to an inverter-motor driving system for variable speed driving an induction motor that does not include a speed (position) sensor. It is an object of the present invention to provide a magnetic flux control device capable of maintaining sensorless magnetic flux estimation performance even in a low speed section where the magnitude of the voltage is small.
本発明に係る誘導電動機用磁束制御装置は、センサーレスベクター制御方式の誘導電動機用磁束制御装置として、速度指令（Ｗ＊ｍ）と推定速度(Ｗｍ)との間の速度誤差の入力を受けて、トルク分電流指令（ｉ＊ｑ）を出力する速度制御装置（４０４）、前記トルク分電流指令（ｉ＊ｑ）の入力を受けて、トルク分電圧指令（Ｖ＊ｑ）として出力するトルク電流制御装置（４０６）、磁束指令(λ＊ｍ)と推定磁束値(λｄｒ)との間の磁束誤差の入力を受けて、磁束分電流指令（ｉ＊ｄ）を出力する磁束制御装置(４０８)、前記磁束分電流指令（ｉ＊ｄ）の入力を受けて、磁束分電圧指令（Ｖ＊ｄ）として出力する磁束電流制御装置（４１０）、前記トルク分電圧指令（Ｖ＊ｑ）及び磁束分電圧指令（Ｖ＊ｄ）を、誘導電動機に印加される三相の電圧指令に変換して出力する三相変換器４１１、前記誘導電動機の三相の電流、前記トルク分指令（Ｖ＊ｑ）及び前記磁束分電圧指令（Ｖ＊ｄ）の入力を受けて、前記誘導電動機の回転子の回転角(θｅ)、前記回転子の推定磁束値(λｄｒ)及び前記回転子の推定速度(Ｗｍ)を出力する磁束推定機（４１５）、及び前記トルク分電圧指令（Ｖ＊ｑ）及び前記推定速度(Ｗｍ)の入力を受けて、前記磁束指令(λ＊ｍ)の大きさを調整するゲイン値を出力する磁束調整装置（４１６）を含み、前記磁束調整装置（４１６）は、前記回転子の回転速度が低い場合、前記磁束指令(λ＊ｍ)の大きさを大きくする誘導電動機用磁束制御装置を提供する。従って、トルク分指令電圧の大きさが、一定値以下に低下しないため、低速でも磁束推定性能の信頼性を維持できるメリットがある。 The magnetic flux control apparatus for induction motors according to the present invention, as a sensorless vector control type magnetic flux control apparatus for induction motors, receives an input of a speed error between a speed command (W * m) and an estimated speed (Wm). , the torque current command (i * q) speed controller for outputting (404) receives an input of the torque current command (i * q), the torque current output as a torque component voltage command (V * q) A control device (406), a magnetic flux control device (408) for receiving a magnetic flux error between the magnetic flux command (λ * m) and the estimated magnetic flux value (λdr) and outputting a magnetic flux component current command (i * d) , A magnetic flux current control device (410) that receives the magnetic flux component current command (i * d) and outputs it as a magnetic flux voltage command (V * d), the torque voltage command (V * q), and the magnetic flux component voltage direct the (V * d), applied to the induction motor Three-phase converter 411 and outputs the converted voltage command of the three phases, the three-phase currents of the induction motor, the input of the torque component command (V * q) and the magnetic flux component voltage command (V * d) In response, a magnetic flux estimator (415) for outputting a rotation angle (θe) of the rotor of the induction motor, an estimated magnetic flux value (λdr) of the rotor and an estimated speed (Wm) of the rotor, and the torque component A magnetic flux adjusting device (416) for receiving a voltage command (V * q) and the estimated speed (Wm) and outputting a gain value for adjusting the magnitude of the magnetic flux command (λ * m); The adjustment device (416) provides a magnetic flux control device for an induction motor that increases the magnitude of the magnetic flux command (λ * m) when the rotational speed of the rotor is low. Accordingly, since the magnitude of the torque command voltage does not decrease below a certain value, there is an advantage that the reliability of the magnetic flux estimation performance can be maintained even at a low speed.
また、本発明に係る誘導電動機用磁束制御装置は、前記磁束調整装置（４１６）のゲイン値の入力を受けて、前記磁束指令(λ＊ｍ)に乗じて出力する乗算器（４１７）をさらに含む誘導電動機用磁束制御装置を提供する。 The induction motor magnetic flux control device according to the present invention further includes a multiplier (417) that receives the gain value of the magnetic flux adjusting device (416), multiplies the magnetic flux command (λ * m), and outputs the resultant. A magnetic flux control device for an induction motor is provided.
また、本発明に係る誘導電動機用磁束制御装置は、前記磁束調整装置（４１６）は前記トルク分電圧指令（Ｖ＊ｑ）と設定された最低磁束分指令電圧（Ｖｍｉｎ）との差の入力を受けてゲインを調整する磁束調整制御器（５０３）、前記推定速度(Ｗｍ)が設定された速度以下であるか否かを判断する比較器（５０６）及び前記比較器（５０６）で設定された速度以下であると判断された場合、前記ゲイン値を出力する選択器（５０７）を含む誘導電動機用磁束制御装置を提供する。 In the induction motor magnetic flux control device according to the present invention, the magnetic flux adjusting device (416) inputs the difference between the torque voltage command (V * q) and the set minimum magnetic flux command voltage (Vmin). In response, the magnetic flux adjustment controller (503) for adjusting the gain, the comparator (506) for determining whether or not the estimated speed (Wm) is equal to or lower than the set speed, and the comparator (506) are set. When it is determined that the speed is equal to or lower than the speed, a magnetic flux control apparatus for an induction motor including a selector (507) that outputs the gain value is provided.
また、本発明に係る誘導電動機用磁束制御装置は、前記磁束調整装置（４１６）は前記磁束調整制御器（５０３）からのゲインを設定範囲に制限して、前記ゲイン値として出力する制限器（５０４）をさらに含む誘導電動機用磁束制御装置を提供する。 Further, in the magnetic flux control apparatus for induction motor according to the present invention, the magnetic flux adjusting device (416) limits the gain from the magnetic flux adjustment controller (503) to a set range and outputs it as the gain value. 504) is further provided.
また、本発明に係る誘導電動機用磁束制御装置は、前記設定範囲は下限が１００％、上限が２００％である誘導電動機用磁束制御装置を提供する。 Moreover, the magnetic flux control apparatus for induction motors according to the present invention provides the magnetic flux control apparatus for induction motors, wherein the setting range has a lower limit of 100% and an upper limit of 200%.
また、本発明に係る誘導電動機用磁束制御装置は、前記最低磁束分指令電圧（Ｖｍｉｎ）は前記誘導電動機の定格電圧の１０％に設定された誘導電動機用磁束制御装置を提供する。 The induction motor magnetic flux control apparatus according to the present invention provides the induction motor magnetic flux control apparatus in which the minimum magnetic flux component command voltage (Vmin) is set to 10% of the rated voltage of the induction motor.
また、本発明に係る誘導電動機用磁束制御装置は、前記選択器（５０７）は前記比較器（５０６）で設定された速度以上に判断された場合、前記磁束指令(λ＊ｍ)値に影響を与えないゲイン値を出力する誘導電動機用磁束制御装置を提供する。 In addition, the magnetic flux control apparatus for induction motor according to the present invention affects the value of the magnetic flux command (λ * m) when the selector (507) is judged to be higher than the speed set by the comparator (506). Provided is a magnetic flux control apparatus for an induction motor that outputs a gain value that does not give a gain.
一方、本発明に係る誘導電動機用磁束制御装置は、速度指令と推定速度との間の速度誤差及び磁束指令と推定磁束との間の磁束誤差を持って誘導電動機を制御するトルク分電圧指令と磁束分電圧指令を生成する誘導電動機の磁束制御装置として、前記推定速度が設定値以下の場合、前記磁束指令に乗じて大きさを大きくできるゲイン値を出力する磁束調整装置を含む誘導電動機の磁束制御装置を提供する。従って、磁束推定性能を速度に関係なく維持できるメリットがある。 On the other hand, the magnetic flux control device for an induction motor according to the present invention includes a torque voltage dividing command for controlling the induction motor having a speed error between the speed command and the estimated speed and a magnetic flux error between the magnetic flux command and the estimated magnetic flux. As a magnetic flux control device for an induction motor that generates a magnetic flux division voltage command, the magnetic flux of the induction motor includes a magnetic flux adjustment device that outputs a gain value that can be increased by multiplying the magnetic flux command when the estimated speed is equal to or less than a set value. A control device is provided. Therefore, there is an advantage that the magnetic flux estimation performance can be maintained regardless of the speed.
本発明は速度及び位置センサーを備えない誘導電動機を可変速駆動するインバータ−電動機駆動システムに取り付けられる電動機磁束制御装置に関し、トルク分指令電圧を一定値以下に低下しないようにすることによって、低速区間でも電動機に印加される電圧の大きさが一定値以下に低下することを防止し、電圧の大きさが小さいためセンサーレス磁束推定に誤差が生じる低速区間でもセンサーレス磁束推定性能を維持することができる。 The present invention relates to an electric motor magnetic flux control device attached to an inverter-motor drive system for variable speed driving an induction motor that does not include a speed and position sensor. However, it is possible to prevent the voltage applied to the motor from dropping below a certain value and maintain the sensorless flux estimation performance even in the low speed section where there is an error in sensorless flux estimation due to the small voltage. it can.
以下、本発明に係る磁束制御装置を図面に基づいて詳細に説明する。 Hereinafter, a magnetic flux control device according to the present invention will be described in detail with reference to the drawings.
図４は、本発明の磁束制御装置が適用された速度及び位置センサーがないセンサーレスベクター制御方式で可変速駆動される誘導電動機システムの構成を示したブロック図である。 FIG. 4 is a block diagram showing a configuration of an induction motor system that is driven at a variable speed by a sensorless vector control method without a speed and position sensor to which the magnetic flux control device of the present invention is applied.
本発明の概念に従って、インバータ４０１には低速区間で磁束推定性能を維持させられる磁束調整装置４１６が配置される。磁束調整装置４１６は、センサーレス磁束推定装置４１５から現在の電動機速度(Ｗｍ)及び磁束電流制御装置４０６からのトルク分電圧指令（Ｖ＊ｑ）の入力を受けて、磁束誤差を計算する減算器４０７に入力される磁束指令の大きさを調整できるゲインを乗算器４１７に出力する。 In accordance with the concept of the present invention, the inverter 401 is provided with a magnetic flux adjusting device 416 capable of maintaining the magnetic flux estimation performance in the low speed section. The magnetic flux adjustment device 416 receives the current motor speed (Wm) from the sensorless magnetic flux estimation device 415 and the torque voltage command (V * q) from the magnetic flux current control device 406, and calculates a magnetic flux error. A gain that can adjust the magnitude of the magnetic flux command input to 407 is output to multiplier 417.
乗算器４１７は、磁束調整装置４１６から入力されたゲインを磁束指令(λ＊ｄｒ)に乗じて最終的磁束指令になるようにする。 The multiplier 417 multiplies the magnetic flux command (λ * dr) by the gain input from the magnetic flux adjusting device 416 to obtain a final magnetic flux command.
図４において、減算器４０３からセンサーレス磁束推定装置４１５までの動作は、従来技術の説明と同様であるため、重なる説明は省略し、磁束調整装置４１６の動作を中心に説明する。 In FIG. 4, the operation from the subtractor 403 to the sensorless magnetic flux estimation device 415 is the same as in the description of the prior art. Therefore, the overlapping description is omitted and the operation of the magnetic flux adjustment device 416 will be mainly described.
本発明に係るセンサーレス磁束推定装置４１５を既存構造と同様であるため、磁束推定装置４１５は、逆起電力積分＋ハイパスフィルタ方式の特徴である低速区間での磁束推定性能制限はそのまま有している。 Since the sensorless magnetic flux estimation apparatus 415 according to the present invention is the same as the existing structure, the magnetic flux estimation apparatus 415 has the magnetic flux estimation performance limitation in the low speed section, which is a feature of the back electromotive force integration + high-pass filter system as it is. Yes.
本発明に係る磁束調整装置４１６は、既存センサーレス磁束推定装置が有する性能制限を最小限に抑えるために低速領域では磁束指令の大きさを調整することを特徴とする。 The magnetic flux adjusting device 416 according to the present invention is characterized by adjusting the magnitude of the magnetic flux command in the low speed region in order to minimize the performance limitation of the existing sensorless magnetic flux estimating device.
前記式(１７)において、固定子抵抗項目を無視して、これをラプラス変換すると次の式(１９)の電圧−磁束間の関係が得られる。 In the above equation (17), if the stator resistance item is ignored and this is Laplace transformed, the relationship between voltage and magnetic flux of the following equation (19) is obtained.
通常、誘導電動機は、定格速度以下で磁束を一定に制御することが一般的であるため、磁束を一定に維持するためには、式(１９)でｓはラプラス演算子で、ｓ＝ｊｗ（ｗ：各周波数)を代入してみると、高速では大きい電圧が、低速では小さい電圧が必要であることが分かる。 In general, since an induction motor generally controls a magnetic flux to be constant at a rated speed or less, in order to maintain the magnetic flux constant, s is a Laplace operator in Equation (19), and s = jw ( Substituting w: each frequency shows that a high voltage is necessary at high speed and a small voltage is necessary at low speed.
現在一定磁束制御でセンサーレス磁束推定時電圧の大きさが小さい低速区間で推定演算に誤差が生じるが、仮に低速区間で磁束の大きさを意図的に大きくすると前記式(１９)のように電動機に入力される電圧も大きくなり、センサーレス演算時に使われる電圧も大きくなる。電圧の大きさを大きくするほどオフセットやデッドタイムの影響を少なく受けて、その分センサーレス磁束推定に有利となる。 An error occurs in the estimation calculation in the low speed section where the voltage at the time of sensorless magnetic flux estimation is small under constant magnetic flux control. However, if the magnitude of the magnetic flux is intentionally increased in the low speed section, the motor The voltage that is input to the sensor also increases, and the voltage used for sensorless computation also increases. The larger the voltage, the less affected by the offset and dead time, which is advantageous for sensorless magnetic flux estimation.
図５は、磁束調整装置４１６の構成を示したブロック図である。 FIG. 5 is a block diagram showing the configuration of the magnetic flux adjusting device 416.
磁束調整装置４１６は上述したように低速領域で磁束を大きくして、電動機に印加される電圧の大きさを大きい値に維持するために、トルク分指令電圧の大きさが一定値以下に低下しないように維持することを目標とする。 As described above, the magnetic flux adjusting device 416 increases the magnetic flux in the low speed region and maintains the magnitude of the voltage applied to the motor at a large value, so that the torque command voltage does not decrease below a certain value. The goal is to maintain.
トルク分磁束指令電圧を使う理由は、定常状態でトルク分指令電圧の大きさは、固定子抵抗値を無視する場合、次の式(２０)のように近似でき、運転中に生じる負荷変動(ｑ軸電流変動)に関係なく回転速度に比例する物理量に使用可能であるためである。 The reason for using the magnetic flux command voltage for torque is that the magnitude of the torque command voltage in the steady state can be approximated by the following equation (20) when the stator resistance value is ignored, and the load fluctuation (during operation) ( This is because it can be used for a physical quantity proportional to the rotation speed regardless of (q-axis current fluctuation).
減算器５０２は、最低磁束分指令電圧（Ｖｍｉｎ）と磁束分電流制御器４１０の出力を差し引いて、これを磁束調整制御器５０３に入力する。 The subtractor 502 subtracts the minimum magnetic flux component command voltage (Vmin) and the output of the magnetic flux component current controller 410 and inputs this to the magnetic flux adjustment controller 503.
最低磁束分指令電圧（Ｖｍｉｎ）は、オフセット影響から脱し、センサーレス磁束推定に必要な逆起電力積分演算をスムーズにできる最小トルク分電圧で定格電圧の１０％を初期値とし、実験積を決めて別の保存装置(図示せず)に保存しておく。 The minimum magnetic flux component command voltage (Vmin) is the minimum torque component voltage that can eliminate the offset effect and smooth the back electromotive force integral calculation required for sensorless magnetic flux estimation. The initial value is 10% of the rated voltage and the experimental product is determined. Stored in another storage device (not shown).
磁束調整制御器５０３は、トルク分指令電圧（Ｖ＊ｑ）の大きさが基準値の最低磁束分指令電圧（Ｖｍｉｎ）より小さい場合、乗算器４１７を介して磁束指令(λ＊ｄｒ)に乗じられるゲインを大きくし、その結果、指令磁束レベルを大きくしてトルク分指令電圧を一定にする。Ｋｐ＿ｍは比例ゲイン、Ｋｉ＿ｍは積分ゲイン、ｓはラプラス演算子である。 The magnetic flux adjustment controller 503 multiplies the magnetic flux command (λ * dr) via the multiplier 417 when the magnitude of the torque command voltage (V * q) is smaller than the reference minimum magnetic flux command voltage (Vmin). As a result, the command magnetic flux level is increased and the command voltage for torque is made constant. Kp_m is a proportional gain, Ki_m is an integral gain, and s is a Laplace operator.
一方、制限器５０４は、磁束調整制御器５０３の動作が磁束を増加させる、つまり、電圧を大きくする側にだけ動作して、下限を１００％に設定しておき、上限は２００％以内に設定する。本発明の磁束調整装置は、低速でのセンサーレス性能向上が目標であるため、高速区間ではあえてこれを動作させる必要はない。 On the other hand, the limiter 504 operates only on the side where the magnetic flux adjustment controller 503 increases the magnetic flux, that is, increases the voltage, the lower limit is set to 100%, and the upper limit is set to be within 200%. To do. Since the magnetic flux adjusting apparatus of the present invention is aimed at improving the sensorless performance at low speed, it is not necessary to operate it in the high speed section.
比較器５０６では、現在速度が一定速度以上／以下を比較して、速度値に応じて、選択器(Ｓｅｌｅｃｔｏｒ)５０７の状態を変化させる。選択器５０７は、比較器５０６の値に反応して、速度が所定値以下の場合には、磁束調整制御器５０３の出力が乗算器４１７を介して磁束指令(λ＊ｄｒ)に乗じられるように選択器５０７の出力が「Ａ」入力と連結されるようにし、速度が所定値以上の場合には、磁束調整制御器５０３の動作を無視するように選択器５０７の出力が「Ｂ」入力と連結されるようにする。 The comparator 506 compares the current speed with a certain speed above / below, and changes the state of the selector 507 according to the speed value. The selector 507 responds to the value of the comparator 506 so that the output of the magnetic flux adjustment controller 503 is multiplied by the magnetic flux command (λ * dr) via the multiplier 417 when the speed is equal to or lower than the predetermined value. The output of the selector 507 is connected to the “A” input, and when the speed is equal to or higher than the predetermined value, the output of the selector 507 is input to the “B” input so that the operation of the magnetic flux adjustment controller 503 is ignored. To be concatenated with.
保存装置５０８は、比較器５０６が電動機速度を所定値以上であると判断する場合、磁束調整制御器５０３の出力が磁束指令(λ＊ｄｒ)値に影響を与えない値(１００％)を予め保存しておく。 When the comparator 506 determines that the motor speed is equal to or higher than the predetermined value, the storage device 508 previously sets a value (100%) that does not affect the magnetic flux command (λ * dr) value by the output of the magnetic flux adjustment controller 503. Save it.
本発明の特徴である磁束調整装置４１６の動作によって同期座標界トルク分電圧指令（Ｖ＊ｑ）が一定値以上に維持されるが、センサーレス磁束演算に使われるものは、同期座標界基準電圧ではなく停止座標界基準電圧であることに留意しなければならない。 The synchronous coordinate field torque voltage division command (V * q) is maintained at a certain value or more by the operation of the magnetic flux adjusting device 416, which is a feature of the present invention. Note that it is the stop coordinate field reference voltage, not.
前記式(６)のようにｖ＊ｑ値が一定値以上に維持される場合、式(１７)、(１８)のセンサーレス磁束推定演算に用いられる停止座標界基準電圧の大きさも共に増加し、電圧が小さい低速領域での磁束推定の不完全な点を補うことが可能となる。 When the v * q value is maintained at a certain value or more as in the equation (6), the magnitude of the stop coordinate field reference voltage used for the sensorless magnetic flux estimation calculation of the equations (17) and (18) also increases. This makes it possible to compensate for an incomplete point of magnetic flux estimation in a low-speed region where the voltage is small.
以上、本発明を実施形態及び添付図に基づいて詳細に説明した。しかし、前記実施形態及び図によって本発明に係る範囲が制限されることなく、本発明に係る範囲は後述する特許請求範囲に記載された内容だけで制限される。 The present invention has been described in detail above based on the embodiment and the accompanying drawings. However, the scope according to the present invention is not limited by the embodiment and the drawings, and the scope according to the present invention is limited only by the contents described in the claims to be described later.
４０１・・・インバータ
４０２・・・誘導電動機
４０３・・・減算器
４０４・・・速度制御装置
４０５・・・減算器
４０６・・・トルク電流制御装置
４０７・・・減算器
４０８・・・磁束制御装置
４０９・・・減算器
４１０・・・磁束電流制御装置
４１１・・・三相変換器
４１２・・・電圧制御装置
４１３・・・電流センサー
４１４・・・二相転換機
４１５・・・センサーレス磁束推定装置
４１６・・・磁束調整装置
401 ... Inverter 402 ... Induction motor 403 ... Subtractor 404 ... Speed controller 405 ... Subtractor 406 ... Torque current controller 407 ... Subtractor 408 ... Magnetic flux control Device 409 ... Subtractor 410 ... Magnetic flux current control device 411 ... Three-phase converter 412 ... Voltage control device 413 ... Current sensor 414 ... Two-phase converter 415 ... Sensorless Magnetic flux estimation device 416 ... Magnetic flux adjustment device
Claims (8)
速度指令（Ｗ＊ｍ）と推定速度(Ｗｍ)との間の速度誤差の入力を受けて、トルク分電流指令（ｉ＊ｑ）を出力する速度制御装置（４０４）、
前記トルク分電流指令（ｉ＊ｑ）の入力を受けて、トルク分電圧指令（Ｖ＊ｑ）に出力するトルク電流制御装置（４０６）、
磁束指令(λ＊ｍ)と推定磁束値(λｄｒ)との間の磁束誤差の入力を受けて、磁束分電流指令（ｉ＊ｄ）を出力する磁束制御装置（４０８）、
前記磁束分電流指令（ｉ＊ｄ）の入力を受けて、磁束分電圧指令（Ｖ＊ｄ）に出力する磁束電流制御装置（４１０）、
前記トルク分電圧指令（Ｖ＊ｑ）及び磁束分電圧指令（Ｖ＊ｄ）を、誘導電動機に印加される三相の電圧指令に変換して出力する三相変換器（４１１）、
前記誘導電動機の三相の電流、前記トルク分電圧指令（Ｖ＊ｑ）及び前記磁束分電圧指令（Ｖ＊ｄ）の入力を受けて、前記誘導電動機の回転子の回転角(θｅ)、前記回転子の推定磁束値(λｄｒ)及び前記回転子の推定速度(Ｗｍ)を出力する磁束推定機（４１５）、及び
前記トルク分電圧指令（Ｖ＊ｑ）及び前記推定速度(Ｗｍ)の入力を受けて、前記磁束指令(λ＊ｍ)の大きさを調整するゲイン値を出力する磁束調整装置（４１６）を含み、
前記磁束調整装置（４１６）は、前記回転子の回転速度が低い場合、前記磁束指令(λ＊ｍ)の大きさを大きくすることを特徴とする、誘導電動機用磁束制御装置。 As a magnetic flux control device for induction motors with sensorless vector control,
A speed control device (404) for receiving a speed error between the speed command (W * m) and the estimated speed (Wm) and outputting a torque current command (i * q);
The torque current command (i * q) receives input of the torque current control device (406) for outputting the torque portion voltage command (V * q),
A magnetic flux controller (408) for receiving a magnetic flux error between the magnetic flux command (λ * m) and the estimated magnetic flux value (λdr) and outputting a magnetic flux current command (i * d);
A magnetic flux current control device (410) that receives the magnetic flux component current command (i * d) and outputs it to the magnetic flux voltage command (V * d);
A three-phase converter (411) for converting the torque divided voltage command (V * q) and the magnetic flux divided voltage command (V * d) into a three-phase voltage command applied to the induction motor, and outputting the voltage command;
Upon receiving the three-phase current of the induction motor, the torque voltage command (V * q) and the magnetic flux voltage command (V * d), the rotation angle (θe) of the rotor of the induction motor, A magnetic flux estimator (415) for outputting the estimated magnetic flux value (λdr) of the rotor and the estimated speed (Wm) of the rotor, and the input of the torque voltage command (V * q) and the estimated speed (Wm) And a magnetic flux adjusting device (416) for outputting a gain value for adjusting the magnitude of the magnetic flux command (λ * m),
The magnetic flux control device for an induction motor, wherein the magnetic flux adjusting device (416) increases the magnitude of the magnetic flux command (λ * m) when the rotational speed of the rotor is low.
前記推定速度が設定値以下の場合、前記磁束指令に乗じて大きさを大きくできるゲイン値を出力する磁束調整装置を含むことを特徴とする、誘導電動機の磁束制御装置。
Magnetic flux control of an induction motor that generates a torque voltage command and a magnetic flux voltage command that controls the induction motor with a speed error between the speed command and the estimated speed and a magnetic flux error between the magnetic flux command and the estimated magnetic flux A device,
A magnetic flux control device for an induction motor, comprising: a magnetic flux adjusting device that outputs a gain value that can be increased by multiplying the magnetic flux command when the estimated speed is equal to or less than a set value.
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- 2011-11-29 JP JP2011260613A patent/JP5639035B2/en not_active Expired - Fee Related
- 2011-11-29 CN CN201110396857.6A patent/CN102487264B/en not_active Expired - Fee Related
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| JPH089697A (en) * | 1994-06-22 | 1996-01-12 | Fuji Electric Co Ltd | Induction motor vector controller |
| JPH11187700A (en) * | 1997-12-24 | 1999-07-09 | Fuji Electric Co Ltd | Induction motor control device |
| JP2005130601A (en) * | 2003-10-23 | 2005-05-19 | Toyo Electric Mfg Co Ltd | Induction machine controller |
| JP2005278327A (en) * | 2004-03-25 | 2005-10-06 | Mitsubishi Electric Corp | Speed sensorless vector control device |
| JP2007006664A (en) * | 2005-06-27 | 2007-01-11 | Mitsubishi Electric Corp | Control unit of ac rotary machine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015107048A (en) * | 2013-11-29 | 2015-06-08 | エルエス産電株式会社Lsis Co., Ltd. | Induction motor controller |
| US9379658B2 (en) | 2013-11-29 | 2016-06-28 | Lsis Co., Ltd. | Apparatus for controlling induction motor |
| JP2015130739A (en) * | 2014-01-07 | 2015-07-16 | ファナック株式会社 | Motor controller capable of switching presence or absence of flux control application |
| EP3107203A1 (en) | 2015-06-18 | 2016-12-21 | Kabushiki Kaisha Yaskawa Denki | Motor controller, flux command generator, and method for generating flux command |
| US10199971B2 (en) | 2015-06-18 | 2019-02-05 | Kabushiki Kaisha Yaskawa Denki | Motor controller, flux command generator, and method for generating flux command |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101376389B1 (en) | 2014-03-20 |
| JP5639035B2 (en) | 2014-12-10 |
| KR20120058905A (en) | 2012-06-08 |
| CN102487264B (en) | 2014-07-09 |
| CN102487264A (en) | 2012-06-06 |
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