JP3484047B2 - Speed sensorless control device - Google Patents
Speed sensorless control deviceInfo
- Publication number
- JP3484047B2 JP3484047B2 JP20538897A JP20538897A JP3484047B2 JP 3484047 B2 JP3484047 B2 JP 3484047B2 JP 20538897 A JP20538897 A JP 20538897A JP 20538897 A JP20538897 A JP 20538897A JP 3484047 B2 JP3484047 B2 JP 3484047B2
- Authority
- JP
- Japan
- Prior art keywords
- vector
- magnetic flux
- speed
- motor
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
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- Control Of Ac Motors In General (AREA)
Description
【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は、速度センサの付い
ていない誘導電動機を駆動するインバータの制御に関す
るもので、電動機の磁束ベクトルの大きさが小さく回転
している時の電動機のトルク制御を可能とするものであ
る。
【０００２】
【従来の技術】図２に従来の速度センサレス制御装置の
ブロック線図を示し、これに基づいて従来の技術を説明
する。
【０００３】磁束演算器１は、電流検出器６と電圧検出
器７の出力である誘導電動機８の電流ベクトルと電圧ベ
クトルから該電動機の磁束ベクトルの演算を行う。
【０００４】速度演算器３は、まず磁束演算器１の出力
の磁束ベクトルφと電流検出器６の出力の電流ベクトル
ｉから誘導電動機８のすべり周波数ωｓ１を、
ωｓ１＝Ｒ２Ｍ（φ×ｉ）／（Ｌ２Ａ） （１）
で演算する。ここで、Ｒ２は二次抵抗、Ｍは相互インダ
クタンス、×はベクトル積、Ｌ２は二次自己インダクタ
ンス、Ａは磁束ベクトルφの大きさの２乗である。その
後、誘導電動機８の回転速度ωｍｃを、
ωｍｃ＝ω２−ωｓ１ （２）
で演算する。ここで、ω２は磁束ベクトルの周波数であ
る。
【０００５】すべり周波数形ベクトル制御器５は、所望
のトルク指令Ｔｃ通りのトルクを誘導電動機８が出力す
るための電流を前記速度演算器３の出力の回転速度ωｍ
ｃを用いて演算し、電動機８に供給する。
【０００６】
【発明が解決しようとする課題】上述した従来の速度演
算器では、誘導電動機の起動時の磁束ベクトルφの大き
さが０や小さい値では、式（１）からわかるようにすべ
り周波数ωｓ１は演算できなかったり非常に大きな値に
なることから、電動機の回転速度ωｍｃは演算できな
い。よって、このように磁束ベクトルの大きさがある一
定の値より小さい場合には、電動機の回転速度はωｍｃ
＝０としている。すると電動機に供給される電流は、０
かそれに近い低い周波数となる。このことは、電動機が
高速に回転している時も同様で、回転しているにも関わ
らず、電流の周波数は０かそれに近い低い値なので，回
転している周波数と電流の周波数との差で表される実際
のすべり周波数ωｓは大きくなる。一方、磁束ベクトル
φの大きさФと電流ベクトルｉの大きさＩの関係式は
Ф＝ＭＩ／（１＋ＢＣ） （３）
である。ここで、Ｂは実際のすべり周波数ωｓの２乗、
Ｃは（Ｌ２／Ｒ２）の２乗である。よって、式（３）よ
り、実際のすべり周波数ωｓが大きければ、電流の大き
さＩをいくら大きくしても磁束の大きさФは大きくなら
ず、電動機の回転速度はωｍｃ＝０の状態が続き，所定
のトルクがでないことがわかる。本発明は、この問題を
解決するためのものである。
【０００７】
【課題を解決するための手段】前記問題点を解決するた
めに、磁束演算器の出力と電流検出器の出力のベクトル
積の時間積分から、誘導電動機の回転速度を推定する速
度推定器と、磁束ベクトルの大きさから速度推定器の出
力か速度演算器の出力を選択して選択した回転速度を出
力する速度切換器を具備する。
【０００８】
【発明の実施の形態】図１に本発明の一実施例を示す。
従来技術の図２と同一部分の説明は省略する。速度推定
器２は、磁束演算器１からの磁束ベクトルφと電流検出
器６からの電流ベクトルｉから、誘導電動機８の回転速
度ωｍｅを、
ωｍｅ＝Ｋ∫（ｉ×φ）ｄｔ （６）
で推定する演算を行う。ここで、Ｋは積分ゲインであ
る。速度切換器４は、磁束ベクトルφの大きさが所定の
値以下の間は推定速度ωｍｅを選択し、磁束ベクトルの
大きさがその所定の値を超えたら演算速度ωｍｃに選択
してその選択した回転速度を出力する。
【０００９】
【発明の効果】本発明により、演算した磁束ベクトルの
大きさが小さくても、誘導電動機の回転速度を推定する
ことにより磁束ベクトルの大きさを大きくすることがで
き、電動機をトルク制御することが可能となる。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the control of an inverter for driving an induction motor without a speed sensor. It is possible to control the torque of the electric motor during the operation. 2. Description of the Related Art FIG. 2 is a block diagram of a conventional speed sensorless control device, and the prior art will be described based on the block diagram. The magnetic flux calculator 1 calculates a magnetic flux vector of the induction motor 8 from the current vector and the voltage vector of the induction motor 8 which are the outputs of the current detector 6 and the voltage detector 7. The speed calculator 3 first calculates the slip frequency ωs1 of the induction motor 8 from the magnetic flux vector φ output from the magnetic flux calculator 1 and the current vector i output from the current detector 6, and ωs1 = R2M (φ × i) / (L2A) (1) is calculated. Here, R2 is a secondary resistance, M is a mutual inductance, X is a vector product, L2 is a secondary self-inductance, and A is a square of the magnitude of the magnetic flux vector φ. After that, the rotation speed ωmc of the induction motor 8 is calculated as follows: ωmc = ω2−ωs1 (2) Here, ω2 is the frequency of the magnetic flux vector. The slip frequency type vector controller 5 outputs a current for the induction motor 8 to output a torque according to a desired torque command Tc by the rotation speed ωm of the output of the speed calculator 3.
The calculation is performed using c and supplied to the electric motor 8. In the above-described conventional speed calculator, when the magnitude of the magnetic flux vector φ at the time of starting the induction motor is 0 or a small value, the slip frequency can be understood from the equation (1). Since ωs1 cannot be calculated or has a very large value, the rotation speed ωmc of the electric motor cannot be calculated. Therefore, when the magnitude of the magnetic flux vector is smaller than a certain value, the rotation speed of the motor becomes ωmc
= 0. Then, the current supplied to the motor becomes 0
Or a low frequency close to it. This is the same when the motor is rotating at high speed. Even though the motor is rotating, the frequency of the current is 0 or a low value close to it. The actual slip frequency ωs represented by On the other hand, the relational expression between the magnitude Ф of the magnetic flux vector φ and the magnitude I of the current vector i is Ф = MI / (1 + BC) (3) Here, B is the square of the actual slip frequency ωs,
C is the square of (L2 / R2). Therefore, from the equation (3), if the actual slip frequency ωs is large, the magnitude of the magnetic flux Ф does not increase even if the magnitude of the current I is increased, and the rotational speed of the motor continues to be ωmc = 0. It can be seen that the predetermined torque is not obtained. The present invention is to solve this problem. In order to solve the above problems, a speed estimation for estimating a rotation speed of an induction motor from a time integration of a vector product of an output of a magnetic flux calculator and an output of a current detector. And a speed switch for selecting the output of the speed estimator or the output of the speed calculator based on the magnitude of the magnetic flux vector and outputting the selected rotation speed. FIG. 1 shows an embodiment of the present invention.
The description of the same parts as in FIG. 2 of the prior art is omitted. The speed estimator 2 calculates the rotational speed ωme of the induction motor 8 from the magnetic flux vector φ from the magnetic flux calculator 1 and the current vector i from the current detector 6 as follows: ωme = K∫ (i × φ) dt (6) Perform an estimation operation. Here, K is an integral gain. The speed switch 4 selects the estimated speed ωme while the magnitude of the magnetic flux vector φ is equal to or less than a predetermined value, and selects and selects the calculation speed ωmc when the magnitude of the magnetic flux vector exceeds the predetermined value. Outputs the rotation speed. According to the present invention, even if the magnitude of the calculated magnetic flux vector is small, the magnitude of the magnetic flux vector can be increased by estimating the rotation speed of the induction motor, and the torque of the motor can be controlled. It is possible to do.
【図面の簡単な説明】
【図１】本発明の速度センサレス制御装置の一実施例を
表すブロック図である。
【図２】従来例の速度センサレス制御装置の一実施例を
表すブロック図である。
【符号の説明】
１ 磁束演算器
２ 速度推定器
３ 速度演算器
４ 速度切換器
５ すべり周波数形ベクトル制御器
６ 電流検出器
７ 電圧検出器
８ 誘導電動機BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating an embodiment of a speed sensorless control device according to the present invention. FIG. 2 is a block diagram illustrating an example of a conventional speed sensorless control device. [Description of Signs] 1 Magnetic flux calculator 2 Speed estimator 3 Speed calculator 4 Speed switch 5 Slip frequency type vector controller 6 Current detector 7 Voltage detector 8 Induction motor
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) H02P 5/408 - 5/412 H02P 7/628 - 7/632 H02P 21/00 H02P 6/00 - 6/24 H02M 7/42 - 7/98 ────────────────────────────────────────────────── ─── Continued on the front page (58) Field surveyed (Int.Cl. 7 , DB name) H02P 5/408-5/412 H02P 7/628-7/632 H02P 21/00 H02P 6/00-6 / 24 H02M 7/42-7/98
Claims (1)
する電流検出器と、該電動機に入力する電圧ベクトルを
検出する電圧検出器と、電流ベクトルと電圧ベクトルか
ら該電動機の磁束ベクトルを演算する磁束演算器と、電
流ベクトルと磁束ベクトルから磁束ベクトルの周波数と
該電動機のすべり周波数を演算して前記磁束ベクトルの
周波数とすべり周波数の差を該電動機の回転速度とする
演算を行う速度演算器と、前記速度演算器の出力の該電
動機の回転速度を入力して該電動機の出力トルクが所定
のトルクになるような電流を該電動機に供給するすべり
周波数形ベクトル制御器、からなる速度センサレス制御
装置において、磁束ベクトルと電流ベクトルのベクトル
積を時間積分して該電動機の回転速度を推定する速度推
定器と、前記磁束演算器の出力の磁束ベクトルの大きさ
がある所定の値以下では速度推定器からの出力の回転速
度を選択し磁束ベクトルがその所定の値を超えると速度
演算器からの出力の回転速度を選択しその選択した回転
速度を出力する速度切換器を具備することを特徴とする
速度センサレス制御装置。(57) Claims 1. A current detector for detecting a current vector input to an induction motor, a voltage detector for detecting a voltage vector input to the motor, A magnetic flux calculator for calculating a magnetic flux vector of the electric motor, a magnetic flux vector frequency and a slip frequency of the electric motor are calculated from a current vector and a magnetic flux vector, and a difference between the magnetic flux vector frequency and the slip frequency is determined as a rotational speed of the electric motor. And a slip frequency type vector control which inputs a rotation speed of the motor as an output of the speed calculator and supplies a current such that an output torque of the motor becomes a predetermined torque to the motor. In a speed sensorless control device including a motor, a vector product of a magnetic flux vector and a current vector is integrated over time to estimate a rotation speed of the electric motor. When the magnitude of the magnetic flux vector output from the flux estimator and the magnetic flux calculator is less than a predetermined value, the rotation speed of the output from the speed estimator is selected. A speed sensorless control device, comprising: a speed switch for selecting a rotation speed of the output and outputting the selected rotation speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538897A JP3484047B2 (en) | 1997-07-15 | 1997-07-15 | Speed sensorless control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20538897A JP3484047B2 (en) | 1997-07-15 | 1997-07-15 | Speed sensorless control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1141997A JPH1141997A (en) | 1999-02-12 |
| JP3484047B2 true JP3484047B2 (en) | 2004-01-06 |
Family
ID=16506004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20538897A Expired - Lifetime JP3484047B2 (en) | 1997-07-15 | 1997-07-15 | Speed sensorless control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3484047B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101494436B (en) * | 2008-01-21 | 2011-01-05 | 台达电子工业股份有限公司 | Non sensing control device and method of induction motor |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1138982C (en) * | 2000-03-27 | 2004-02-18 | 三菱电机株式会社 | Sensor for sensing rotating state of synchronous machine and mehtod of sensing rotating state of synchronous machine |
| JP7090498B2 (en) * | 2018-08-01 | 2022-06-24 | 東洋電機製造株式会社 | Speed sensorless motor control device |
-
1997
- 1997-07-15 JP JP20538897A patent/JP3484047B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101494436B (en) * | 2008-01-21 | 2011-01-05 | 台达电子工业股份有限公司 | Non sensing control device and method of induction motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1141997A (en) | 1999-02-12 |
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