JP6880805B2

JP6880805B2 - Induction motor control device

Info

Publication number: JP6880805B2
Application number: JP2017024594A
Authority: JP
Inventors: 崇伸吉田; 裕吾只野; 野村　昌克; 昌克野村
Original assignee: Meidensha Corp
Current assignee: Meidensha Corp
Priority date: 2017-02-14
Filing date: 2017-02-14
Publication date: 2021-06-02
Anticipated expiration: 2037-02-14
Also published as: JP2018133865A

Description

本発明は、誘導電動機のベクトル制御に係り、特に力行・回生の４象限運転する際の一次時定数，二次時定数の補償方法に関する。 The present invention relates to vector control of an induction motor, and particularly relates to a method for compensating for a primary time constant and a secondary time constant during four-quadrant operation of power running and regeneration.

ＰＷＭインバータなどの電力変換器を用いて誘導電動機を運転する手法の１つに、ベクトル制御がある。 Vector control is one of the methods for operating an induction motor using a power converter such as a PWM inverter.

誘導電動機のベクトル制御では、制御設定値である一次抵抗設定値Ｒｓ＿ｃ，二次抵抗設定値Ｒｒ＿ｃ，一次漏れインクダクタンス設定値Ｌｓ＿ｃ，二次漏れインダクタンス設定値Ｌｒ＿ｃ，相互インダクタンス設定値Ｍ＿ｃと、誘導電動機の実パラメータである一次抵抗Ｒｓ，二次抵抗Ｒｒ，一次漏れインダクタンスＬｓ，二次漏れインダクタンスＬｒ，相互インダクタンスＭと、の間に誤差が生じると、ベクトル制御性能が悪化する。 In the vector control of the induction motor, the primary resistance set value Rs_c, the secondary resistance set value Rr_c, the primary leakage ink ductance setting value Ls_c, the secondary leakage inductance set value Lr_c, the mutual inductance set value M_c, which are the control set values, and the induction motor If an error occurs between the primary resistance Rs, the secondary resistance Rr, the primary leakage inductance Ls, the secondary leakage inductance Lr, and the mutual inductance M, which are the actual parameters of the above, the vector control performance deteriorates.

誘導電動機をトルク制御する場合、ベクトル制御性能が悪化した状態は、トルク誤差が生じるため好ましくない。また、一般的なすべり周波数型ベクトル制御を行う場合には、すべり周波数を誘導電動機の二次時定数τｒ（＝Ｌｒ／Ｒｒ）から推定する。 When torque controlling an induction motor, a state in which the vector control performance is deteriorated is not preferable because a torque error occurs. Further, when performing general slip frequency type vector control, the slip frequency is estimated from the secondary time constant τr (= Lr / Rr) of the induction motor.

実際には、二次時定数τｒの検出は困難であるため二次時定数設定値τｒ＿ｃ（＝Ｌｒ＿ｃ／Ｒｒ＿ｃ）を用いる。運転中に温度変化等が生じる場合には、一次抵抗Ｒｓの変動と合わせて、二次抵抗Ｒｒも同様に変動する。そのような場合には、二次時定数設定値τｒ＿ｃと二次時定数τｒとの間に誤差が生じるためベクトル軸のずれ（軸ずれ）が生じ、所望の制御性能を得られない問題がある。 Actually, since it is difficult to detect the secondary time constant τr, the secondary time constant set value τr_c (= Lr_c / Rr_c) is used. When a temperature change or the like occurs during operation, the secondary resistance Rr fluctuates in the same manner as the fluctuation of the primary resistance Rs. In such a case, there is a problem that a vector axis shift (axis shift) occurs because an error occurs between the secondary time constant set value τr_c and the secondary time constant τr, and the desired control performance cannot be obtained. ..

そこで、運転中の二次抵抗補償法が多数開示されている。しかし、電流予測値と電流検出値の誤差である電流誤差を用いる補償方式の場合、誘導電動機の回生運転で二次抵抗補償値が不安定となることが、非特許文献１で示されている。 Therefore, many secondary resistance compensation methods during operation are disclosed. However, in the case of the compensation method using the current error which is the error between the current predicted value and the current detected value, it is shown in Non-Patent Document 1 that the secondary resistance compensation value becomes unstable due to the regenerative operation of the induction motor. ..

また、実際の誘導電動機の運転では、力行・回生の４象限で運転する場合もあるため、回生領域でも安定して二次抵抗補償を行う方式が必要となる。 Further, in the actual operation of the induction motor, since it may be operated in four quadrants of power running and regeneration, a method of stably performing secondary resistance compensation even in the regeneration region is required.

力行・回生の４象限で運転するための従来技術として特許文献１が開示されている。この方式は、力行・回生を考慮した軸ずれの補償方式であり、トルク精度向上も実現可能である。 Patent Document 1 is disclosed as a conventional technique for operating in four quadrants of power running and regeneration. This method is a compensation method for shaft misalignment in consideration of power running and regeneration, and it is possible to improve torque accuracy.

特開２００５−２０９９３号公報Japanese Unexamined Patent Publication No. 2005-20993

「誘導電動機パラメータ適応二次磁束オブザーバの提案とその安定性」久保田・松瀬，電気学会Ｄ部門論文誌，Ｖｏｌ．１１１，Ｎｏ．３，ｐ１８８（１９９１）"Proposal of Secondary Magnetic Flux Observer for Induction Motor Parameter Adaptation and Its Stability" Kubota and Matsuse, IEEJ D Division Journal, Vol. 111, No. 3, p188 (1991)

特許文献１では、力行時と回生時で軸ずれ角δの補償式が異なるため、力行・回生運転の判別が必要となっている。 In Patent Document 1, since the compensation formula for the axial deviation angle δ differs between power running and regeneration, it is necessary to discriminate between power running and regenerative operation.

下記は、特許文献１の（１１ａ）式，（１１ｂ）式に記載されている軸ずれ角δの演算式である。 The following is an arithmetic expression of the axial deviation angle δ described in the equations (11a) and (11b) of Patent Document 1.

力行・回生運転の判別手法として、特許文献１では電動機モデルで求まる誘起電圧Ｅ１（１２）式と電流モデルで求まる誘起電圧Ｅ２（１３ａ）式から求めている。 As a method for discriminating between power running and regenerative operation, Patent Document 1 obtains it from the induced voltage E1 (12) equation obtained by the motor model and the induced voltage E2 (13a) equation obtained by the current model.

その他の力行・回生運転の判別手法としては、トルク検出値と回転数検出値から求める手法がある。 As another method for discriminating power running / regenerative operation, there is a method of obtaining from the torque detection value and the rotation speed detection value.

しかし、これらの力行・回生運転の運転判別手法では、電圧、電流などの検出値がノイズなどの外乱によって真値から誤差が生じた場合、力行・回生判別が正しく行われなくなるおそれがある。その場合、制御性能が大きく悪化する問題がある。 However, in these power running / regenerative operation operation discrimination methods, if the detected values of voltage, current, etc. have an error from the true values due to disturbances such as noise, the power running / regenerative operation may not be correctly discriminated. In that case, there is a problem that the control performance is greatly deteriorated.

以上示したようなことから、力行・回生運転の判別を必要とせずに、４象限運転時のパラメータ誤差補償を行うことができ、ベクトル制御性能を向上させる誘導電動機の制御装置を提供することが課題となる。 From the above, it is possible to provide a control device for an induction motor that can compensate for parameter errors during 4-quadrant operation and improve vector control performance without the need to discriminate between power running and regenerative operation. It becomes an issue.

本発明は、前記従来の問題に鑑み、案出されたもので、その一態様は、γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、前記三相電圧指令値に応じた電圧を出力するインバータと、前記インバータが出力した電圧により駆動する誘導電動機と、前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、前記二次時定数推定値の逆数に基づいて、電気角演算値を演算するすべり演算・電気角演算部と、を備え、前記時定数推定部は、前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、それ以外の場合は、繰り返し前記一次時定数推定値の演算を行い、前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合は前記二次時定数推定値の推定を中止して現在の二次時定推定値を保持し、それ以外の場合は、繰り返し前記二次時定数推定値の演算を行うことを特徴とする。 The present invention has been devised in view of the above-mentioned conventional problems, and one aspect thereof is a deviation between a γ-axis current command value and a γ-axis current detection value, a δ-axis current command value and a δ-axis current detection value. Based on the deviation of, the current controller that outputs the γ-axis voltage command value and the δ-axis voltage command value, and the γ-axis voltage command value and the δ-axis voltage command value are converted into the three-phase voltage command value. The one-coordinate conversion unit, the inverter that outputs the voltage corresponding to the three-phase voltage command value, the induction electric motor driven by the voltage output by the inverter, and the three-phase current detection value of the inverter are the γ-axis current detection values. , The second coordinate conversion unit that converts to the δ-axis current detection value, the γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, and electricity. A current observer that calculates the γ-axis current estimate and the δ-axis current estimate based on the angle calculation value, the inverse of the primary time constant estimate, the inverse of the secondary time constant estimate, and the machine rotation speed. The γ-axis current detected value, the δ-axis current detected value, the γ-axis current error which is the difference between the γ-axis current estimated value and the γ-axis current detected value, the δ-axis current estimated value, and the δ-axis current detected value. A time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse of the secondary time constant estimation value based on the δ-axis current error, which is the difference from the δ-axis current detection value, and the estimation start signal. , A slip calculation / electric angle calculation unit that calculates an electric angle calculation value based on the inverse of the secondary time constant estimation value, and the time constant estimation unit has a rate of change of the primary time constant estimation value. If the predetermined time has elapsed below the first threshold value, the estimation of the primary time constant estimation value is stopped and the current primary time constant estimation value is retained. In other cases, the primary time constant estimation value is repeated. If the rate of change of the secondary time constant estimated value is equal to or less than the second threshold value and a predetermined time has elapsed, the estimation of the secondary time constant estimated value is stopped and the current secondary time constant estimated value is stopped. In other cases, the quadratic time constant estimated value is repeatedly calculated.

また、他の態様として、γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、前記三相電圧指令値に応じた電圧を出力するインバータと、前記インバータが出力した電圧により駆動する誘導電動機と、前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、前記二次時定数推定値の逆数に基づいて、電気角演算値を演算するすべり演算・電気角演算部と、を備え、前記時定数推定部は、前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合、または、前記一次時定数推定値の変化率が前記第１閾値よりも大きい第３閾値以上で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合、または、前記二次時定数推定値の変化率が前記第２閾値よりも大きい第４閾値以上で所定時間経過している場合は前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、それ以外の場合は、繰り返し、前記二次時定数推定値の演算を行うことを特徴とする。 In another embodiment, the γ-axis voltage command value and the δ-axis voltage command are based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. A current controller that outputs a value, a first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and a voltage corresponding to the three-phase voltage command value. An inverter that outputs the above voltage, an induction motor that is driven by the voltage output by the inverter, and a second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value. , The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimation value, and the second order. A current observer that calculates a γ-axis current estimated value and a δ-axis current estimated value based on the inverse of the time-constant estimated value and the machine rotation speed, the γ-axis current detected value, and the δ-axis current detected value. The γ-axis current error, which is the difference between the γ-axis current estimated value and the γ-axis current detected value, and the δ-axis current error, which is the difference between the δ-axis current estimated value and the δ-axis current detected value. Based on the estimation start signal, the time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse number of the secondary time constant estimation value, and the electric angle based on the inverse number of the secondary time constant estimation value. The slip calculation / electric angle calculation unit for calculating the calculated value is provided, and the time constant estimation unit is used when the rate of change of the primary time constant estimation value is equal to or less than the first threshold value and a predetermined time has elapsed, or the above. If the rate of change of the primary time constant estimated value is greater than or equal to the third threshold voltage larger than the first threshold value and a predetermined time has elapsed, the estimation of the primary time constant estimated value is stopped and the current primary time constant estimated value is used. Hold, and in other cases, repeat the calculation of the primary time constant estimated value, and when the rate of change of the secondary time constant estimated value is equal to or less than the second threshold value and a predetermined time has elapsed, or the above two. If the rate of change of the next time constant estimated value is greater than or equal to the fourth threshold voltage larger than the second threshold value and a predetermined time has elapsed, the estimation of the second time constant estimated value is stopped and the current secondary time constant estimation is performed. It is characterized in that the value is held, and in other cases, the calculation of the quadratic time constant estimated value is repeated repeatedly.

また、他の態様として、γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、前記三相電圧指令値に応じた電圧を出力するインバータと、前記インバータが出力した電圧により駆動する誘導電動機と、前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、前記二次時定数推定値の逆数に基づいて、電気角演算値を演算するすべり演算・電気角演算部と、を備え、前記時定数推定部は、前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、前記一次時定数推定値の変化率の絶対値が前記第１閾値よりも大きい第１リミッタ値で飽和している場合は前回一次時定数推定値を前記一次時定数推定値として保持して前記一次時定数推定値の推定を中止し、それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合、前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、前記二次時定数推定値の変化率の絶対値が前記第２閾値よりも大きい第２リミッタ値で飽和している場合は前回二次時定数推定値を前記二次時定数推定値として保持して前記二次時定数推定値の推定を中止し、それ以外の場合は、繰り返し、前記二次時定数推定値の演算を行うことを特徴とする。 In another embodiment, the γ-axis voltage command value and the δ-axis voltage command are based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. A current controller that outputs a value, a first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and a voltage corresponding to the three-phase voltage command value. An inverter that outputs the above voltage, an induction motor that is driven by the voltage output by the inverter, and a second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value. , The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimation value, and the second order. A current observer that calculates a γ-axis current estimated value and a δ-axis current estimated value based on the inverse of the time-constant estimated value and the machine rotation speed, the γ-axis current detected value, and the δ-axis current detected value. The γ-axis current error, which is the difference between the γ-axis current estimated value and the γ-axis current detected value, and the δ-axis current error, which is the difference between the δ-axis current estimated value and the δ-axis current detected value. Based on the estimation start signal, the time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse number of the secondary time constant estimation value, and the electric angle based on the inverse number of the secondary time constant estimation value. The slip calculation / electric angle calculation unit for calculating the calculated value is provided, and the time constant estimation unit is used when the rate of change of the primary time constant estimation value is equal to or less than the first threshold value and a predetermined time has elapsed. The estimation of the constant estimated value is stopped, the current primary time constant estimated value is retained, and the absolute value of the rate of change of the primary time constant estimated value is saturated with the first limiter value larger than the first threshold value. In that case, the previous primary time constant estimated value is held as the primary time constant estimated value, the estimation of the primary time constant estimated value is stopped, and in other cases, the calculation of the primary time constant estimated value is repeated. When the rate of change of the secondary time constant estimation value is equal to or less than the second threshold value and a predetermined time has elapsed, the estimation of the secondary time constant estimation value is stopped and the current secondary time constant estimation value is retained. When the absolute value of the rate of change of the secondary time constant estimated value is saturated with the second limiter value larger than the second threshold value, the previous secondary time constant estimated value is retained as the secondary time constant estimated value. The estimation of the secondary time constant estimated value is stopped, and in other cases, the calculation of the secondary time constant estimated value is repeated repeatedly.

また、他の態様として、γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、前記三相電圧指令値に応じた電圧を出力するインバータと、前記インバータが出力した電圧により駆動する誘導電動機と、前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、前記二次時定数推定値の逆数に基づいて、電気角演算値を演算するすべり演算・電気角演算部と、を備え、前記時定数推定部は、前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、前記一次時定数推定値の変化率の絶対値が前記第１閾値よりも大きい第１リミッタ値で飽和している場合は前回一次時定数推定値を前記一次時定数推定値として保持して前記一次時定数推定値の推定を中止し、それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、前記二次時定数推定値の変化率が第２閾値以下で所定時間以上経過しておらず、かつ、前記二次時定数推定値の変化率の絶対値が前記第２閾値よりも大きい第２リミッタ値で飽和していない場合は、繰り返し、前記二次時定数推定値の演算を行い、前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過している場合は、前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、かつ、前記二次時定数推定値を演算した値に−１を乗算した逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和している場合は、前回二次時定数推定値を前記二次時定数推定値として保持して前記二次時定数推定値の推定を中止し、前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、前記逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記逆符号二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過している場合は、前記逆符号二次時定数推定値を保持して前記二次時定数推定値の推定を中止し、前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、前記逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記逆符号二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過していない場合は、繰り返し、前記逆符号二次時定数推定値の演算を行うことを特徴とする。 In another embodiment, the γ-axis voltage command value and the δ-axis voltage command are based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. A current controller that outputs a value, a first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and a voltage corresponding to the three-phase voltage command value. An inverter that outputs the above voltage, an induction motor that is driven by the voltage output by the inverter, and a second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value. , The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimation value, and the second order. A current observer that calculates a γ-axis current estimated value and a δ-axis current estimated value based on the inverse of the time-constant estimated value and the machine rotation speed, the γ-axis current detected value, and the δ-axis current detected value. The γ-axis current error, which is the difference between the γ-axis current estimated value and the γ-axis current detected value, and the δ-axis current error, which is the difference between the δ-axis current estimated value and the δ-axis current detected value. Based on the estimation start signal, the time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse number of the secondary time constant estimation value, and the electric angle based on the inverse number of the secondary time constant estimation value. The slip calculation / electric angle calculation unit for calculating the calculated value is provided, and the time constant estimation unit is used when the rate of change of the primary time constant estimation value is equal to or less than the first threshold value and a predetermined time has elapsed. The estimation of the constant estimated value is stopped, the current primary time constant estimated value is retained, and the absolute value of the rate of change of the primary time constant estimated value is saturated with the first limiter value larger than the first threshold value. In that case, the previous primary time constant estimated value is held as the primary time constant estimated value, the estimation of the primary time constant estimated value is stopped, and in other cases, the calculation of the primary time constant estimated value is repeated. A second value in which the rate of change of the secondary time constant estimated value is equal to or less than the second threshold value and has not elapsed for a predetermined time or more, and the absolute value of the rate of change of the secondary time constant estimated value is larger than the second threshold value. If it is not saturated with the limiter value, the calculation of the secondary time constant estimated value is repeated, and the absolute value of the rate of change of the secondary time constant estimated value is not saturated with the second limiter value. If the rate of change of the secondary time constant estimation value is equal to or less than the second threshold value and a predetermined time or longer has elapsed, the estimation of the secondary time constant estimation value is stopped and the current secondary time constant estimation is performed. The value is held, and the absolute value of the rate of change of the secondary time constant estimated value is the second limit. The absolute value of the rate of change of the inverse code secondary time constant estimated value obtained by multiplying the calculated value of the secondary time constant estimated value by -1 is saturated with the second limiter value. If so, the previous secondary time constant estimate is held as the secondary time constant estimate, the estimation of the secondary time constant estimate is stopped, and the absolute value of the rate of change of the secondary time constant estimate is Saturated by the second limiter value, the absolute value of the rate of change of the inverse code secondary time constant estimate is not saturated by the second limiter value, and the change of the inverse code secondary time constant estimate value. When the rate is equal to or less than the second threshold value and a predetermined time or more has elapsed, the inverse code secondary time constant estimation value is retained, the estimation of the secondary time constant estimation value is stopped, and the secondary time constant estimation is performed. The absolute value of the rate of change of the value is saturated with the second limiter value, the absolute value of the rate of change of the inverse time constant estimated value is not saturated with the second limiter value, and the inverse code When the rate of change of the secondary time constant estimated value is equal to or less than the second threshold value and the predetermined time or more has not elapsed, the inverse code secondary time constant estimated value is repeatedly calculated.

本発明によれば、力行・回生運転の判別を必要とせずに、４象限運転時のパラメータ誤差補償を行うことができ、ベクトル制御性能を向上させる誘導電動機の制御装置を提供することが可能となる。 According to the present invention, it is possible to provide a control device for an induction motor that can compensate for parameter errors during four-quadrant operation and improve vector control performance without the need to discriminate between power running and regenerative operation. Become.

実施形態１における誘導電動機の制御システム構成図。FIG. 5 is a configuration diagram of a control system for an induction motor according to the first embodiment. 実施形態１における時定数調整器を示すブロック図。The block diagram which shows the time constant adjuster in Embodiment 1. FIG. 実施形態１における時定数推定部の動作を示すフローチャート。The flowchart which shows the operation of the time constant estimation part in Embodiment 1. 実施形態１における回転数，トルク，一次時定数推定値，二次時定数推定値，γ軸，δ軸電流偏差を示すタイムチャート。A time chart showing the rotation speed, torque, primary time constant estimated value, secondary time constant estimated value, γ-axis, and δ-axis current deviation in the first embodiment. 図４のトルク部の拡大図。An enlarged view of the torque portion of FIG. 実施形態２における時定数推定部の動作を示すフローチャート。The flowchart which shows the operation of the time constant estimation part in Embodiment 2. 実施形態３における時定数調整器を示すブロック図。The block diagram which shows the time constant adjuster in Embodiment 3. 実施形態３における時定数推定部の動作を示すフローチャート。The flowchart which shows the operation of the time constant estimation part in Embodiment 3. 実施形態１〜３の一次時定数推定値を示すタイムチャート。A time chart showing primary time constant estimates of Embodiments 1-3. 実施形態４における時定数推定部の動作を示すフローチャート。The flowchart which shows the operation of the time constant estimation part in Embodiment 4.

［実施形態１］
本実施形態１における誘導電動機の制御装置について説明する。図１は本実施形態１における誘導電動機の制御装置の構成図である。 [Embodiment 1]
The control device for the induction motor according to the first embodiment will be described. FIG. 1 is a configuration diagram of a control device for an induction motor according to the first embodiment.

電流指令演算部１は、γ軸磁束指令値φγｒ＿ｒとトルク指令値Ｔ＿ｒとに基づいて、例えば（１）式，（２）式によりγ軸電流指令値ｉγｓ＿ｒとδ軸電流指令値ｉδｓ＿ｒを出力する。 The current command calculation unit 1 outputs the γ-axis current command value iγs_r and the δ-axis current command value iδs_r according to the equations (1) and (2), for example, based on the γ-axis magnetic flux command value φγr_r and the torque command value T_r. ..

減算器２ａ，２ｂは、γ軸電流指令値ｉγｓ＿ｒとγ軸電流検出値ｉγｓ＿ｄとのγ軸電流偏差、δ軸電流指令値ｉδｓ＿ｒとδ軸電流検出値ｉδｓ＿ｄとのδ軸電流偏差を計算し、電流制御部３へ出力する。 The subtractors 2a and 2b calculate the γ-axis current deviation between the γ-axis current command value iγs_r and the γ-axis current detection value iγs_d, and the δ-axis current deviation between the δ-axis current command value iδs_r and the δ-axis current detection value iδs_d. Output to the current control unit 3.

電流制御部３では、例えば、ＰＩ制御のような電流偏差がゼロとなるγ軸電圧指令値ｖγｓ＿ｒ，δ軸電圧指令値ｖδｓ＿ｒを第１座標変換部４に出力する。 The current control unit 3 outputs, for example, the γ-axis voltage command value vγs_r and the δ-axis voltage command value vδs_r at which the current deviation becomes zero, as in PI control, to the first coordinate conversion unit 4.

第１座標変換部４は、γ軸電圧指令値ｖγｓ＿ｒとδ軸電圧指令値ｖδｓ＿ｒを、電気角基準位相θｅに基づいて座標変換を行い、三相電圧指令値ｖｕ＿ｒ，ｖｖ＿ｒ，ｖｗ＿ｒに変換し、ＰＷＭインバータ５に出力する。本実施形態１での座標変換は（３）式，（４）式の回転行列Ｃと３相２相変換行列Ｄを用いて行っている。 The first coordinate conversion unit 4 performs coordinate conversion on the γ-axis voltage command value vγs_r and the δ-axis voltage command value vδs_r based on the electric angle reference phase θe, and converts them into the three-phase voltage command values vu_r, vv_r, vw_r. Output to the PWM inverter 5. The coordinate transformation in the first embodiment is performed by using the rotation matrix C of the equations (3) and (4) and the three-phase two-phase transformation matrix D.

ＰＷＭインバータ５は、三相電圧指令値ｖｕ＿ｒ，ｖｖ＿ｒ，ｖｗ＿ｒに基づいて、誘導電動機ＩＭに電圧を出力する。 The PWM inverter 5 outputs a voltage to the induction motor IM based on the three-phase voltage command values vu_r, vv_r, vw_r.

第２座標変換部６は、三相電流検出値ｉｕ＿ｄ，ｉｖ＿ｄ，ｉｗ＿ｄを電気角基準位相θｅに基づいて、γ軸電流検出値ｉγ＿ｄとδ軸電流検出値ｉδ＿ｄを出力する。 The second coordinate conversion unit 6 outputs the γ-axis current detection value iγ_d and the δ-axis current detection value iδ_d based on the electric angle reference phase θe for the three-phase current detection values iu_d, iv_d, and iw_d.

適応制御部７は、電流オブザーバ８と時定数調整器９とを備える。電流オブザーバ８は、γ軸電圧指令値ｖγｓ＿ｒ，δ軸電圧指令値ｖδｓ＿ｒ，γ軸電流検出値ｉγｓ＿ｄ，δ軸電流検出値ｉδｓ＿ｄ，機械回転数（極数倍）ωｒｅ＿ｄ，電気角演算値ωｅ＿ｅ，一次時定数推定値の逆数１／τｓ＿ｅ，二次時定数推定値の逆数１／τｒ＿ｅを入力する。電流オブザーバ８で以下の（５）式の演算を行い、γ軸電流推定値ｉγｓ＿ｅ，δ軸電流推定値ｉδｓ＿ｅを出力する。 The adaptive control unit 7 includes a current observer 8 and a time constant adjuster 9. The current observer 8 has a γ-axis voltage command value vγs_r, a δ-axis voltage command value vδs_r, a γ-axis current detection value iγs_d, a δ-axis current detection value iδs_d, a machine rotation speed (number of poles) ωre_d, an electric angle calculation value ωe_e, and a primary. Enter the reciprocal of the time constant estimate 1 / τs_e and the reciprocal of the secondary time constant estimate 1 / τr_e. The current observer 8 performs the following calculation of Eq. (5) and outputs the γ-axis current estimated value iγs_e and the δ-axis current estimated value iδs_e.

推定したγ軸電流推定値ｉγｓ＿ｅ，δ軸電流推定値ｉδｓ＿ｅと、γ軸電流検出値ｉγｓ＿ｄ，δ軸電流検出値ｉδｓ＿ｄ，推定開始信号Ｓｔａｒｔ＿ｅｓｔを時定数調整器９に入力する。時定数調整器９の詳細を図２に示す。時定数調整器９は、電流誤差演算部９ａと時定数推定部９ｂと、を備える。 The estimated γ-axis current estimated value iγs_e, δ-axis current estimated value iδs_e, γ-axis current detected value iγs_d, δ-axis current detected value iδs_d, and estimation start signal Start_est are input to the time constant adjuster 9. The details of the time constant adjuster 9 are shown in FIG. The time constant adjuster 9 includes a current error calculation unit 9a and a time constant estimation unit 9b.

電流誤差演算部９ａは、γ軸電流推定値ｉγｓ＿ｅ，δ軸電流推定値ｉδｓ＿ｅと、γ軸電流検出値ｉγｓ＿ｄ，δ軸電流検出値ｉδｓ＿ｄからγ軸電流誤差ｅｉγｓ，δ軸電流誤差ｅｉδｓを（６）式で求める。 The current error calculation unit 9a converts the γ-axis current error eiγs and the δ-axis current error eiδs from the γ-axis current estimated value iγs_e and the δ-axis current estimated value iδs_e and the γ-axis current detected value iγs_d and the δ-axis current detected value iδs_d (6). ) Formula.

時定数推定部９ｂは、γ軸電流誤差ｅｉγｓ，δ軸電流誤差ｅｉδｓ，γ軸電流検出値ｉγｓ＿ｄ，δ軸電流検出値ｉδｓ＿ｄ，推定開始信号Ｓｔａｒｔ＿ｅｓｔを入力し、一次時定数推定値の逆数１／τｓ＿ｅと二次時定数推定値の逆数１／τｒ＿ｅを推定する。時定数推定部９ｂでの処理に関しては後述する。 The time constant estimation unit 9b inputs the γ-axis current error eiγs, the δ-axis current error eiδs, the γ-axis current detection value iγs_d, the δ-axis current detection value iδs_d, and the estimation start signal Start_est, and the reciprocal 1 / of the primary time constant estimation value. Estimate the reciprocal 1 / τr_e of τs_e and the second-order time constant estimate. The processing in the time constant estimation unit 9b will be described later.

図１に示すように、時定数調整器９で推定した一次時定数推定値の逆数１／τｓ＿ｅ，二次時定数推定値の逆数１／τｒ＿ｅは電流オブザーバ８に出力される。また、二次時定数推定値の逆数１／τｒ＿ｅは適応制御部７の出力として、すべり演算・電気角演算部１０へ出力される。その他、γ軸電流指令値ｉγｓ＿ｒ，δ軸電流指令値ｉδｓ＿ｒ，機械回転数ωｒｅ＿ｄを、すべり演算・電気角演算部１０へ入力し（７）式で電気角演算値ωｅ＿ｅを求める。 As shown in FIG. 1, the reciprocal 1 / τs_e of the primary time constant estimated value estimated by the time constant regulator 9 and the reciprocal 1 / τr_e of the secondary time constant estimated value are output to the current observer 8. Further, the reciprocal 1 / τr_e of the second-order time constant estimated value is output to the slip calculation / electric angle calculation unit 10 as the output of the adaptive control unit 7. In addition, the γ-axis current command value iγs_r, the δ-axis current command value iδs_r, and the mechanical rotation speed ωre_d are input to the slip calculation / electric angle calculation unit 10 to obtain the electric angle calculation value ωe_e by the equation (7).

（７）式は誘導電動機ＩＭでδ軸磁束指令値φδｒ＿ｒ＝０とするベクトル制御で導出可能な一般的な式であるため説明は省略する。 Since the equation (7) is a general equation that can be derived by vector control in which the δ-axis magnetic flux command value φδr_r = 0 in the induction motor IM, the description thereof will be omitted.

積分器１１は、（７）式で求めた電気角演算値ωｅ＿ｅに基づいて、電気角基準位相θｅを求め、電気角基準位相θｅを座標変換時の基準軸として利用する。 The integrator 11 obtains the electric angle reference phase θe based on the electric angle calculated value ωe_e obtained by the equation (7), and uses the electric angle reference phase θe as the reference axis at the time of coordinate conversion.

本実施形態１は、運転前の実二次抵抗値Ｒｒと二次抵抗設定値Ｒｒ＿ｃに誤差がある場合や、運転中の温度変化により実二次抵抗値Ｒｒと二次抵抗設定値Ｒｒ＿ｃに誤差が生じ、軸ずれが生じてしまう条件でも、運転中に逐次推定される二次時定数推定値τｒ＿ｅを用いてすべり周波数を推定することで軸ずれを防ぎ、所望の制御性能を得ることができる。加えて、従来制御では困難であった力行・回生の４象限運転においても、その効果を得ることができる方式である。 In the first embodiment, there is an error between the actual secondary resistance value Rr and the secondary resistance set value Rr_c before operation, or there is an error between the actual secondary resistance value Rr and the secondary resistance set value Rr_c due to a temperature change during operation. By estimating the slip frequency using the secondary time constant estimated value τr_e that is sequentially estimated during operation, it is possible to prevent the shaft shift and obtain the desired control performance even under the condition that the shaft shift occurs. .. In addition, it is a method that can obtain the effect even in the four-quadrant operation of power running and regeneration, which was difficult with conventional control.

時定数推定部９ｂでの動作フローチャートを図３に示す。 FIG. 3 shows an operation flowchart of the time constant estimation unit 9b.

はじめに推定開始信号Ｓｔａｒｔ＿ｅｓｔを受信し、Ｓ１で時定数推定部９ｂが動作を始める。時定数推定部９ｂでは一次時定数推定値τｓ＿ｅを（８）式で演算する。一次時定数推定値τｓ＿ｅは（８）式を積分し、その逆数をとることで求める。 First, the estimation start signal Start_est is received, and the time constant estimation unit 9b starts operating in S1. The time constant estimation unit 9b calculates the first-order time constant estimation value τs_e by the equation (8). The first-order time constant estimate τs_e is obtained by integrating Eq. (8) and taking the reciprocal of it.

Ｓ２において推定した一次時定数推定値τｓ＿ｅの変化率Δτｓ＿ｅを演算し、Ｓ３において変化率Δτｓ＿ｅがあらかじめ定めた第１閾値以下の状態を所定時間ｔ１継続しているか否かを判定する。 The rate of change Δτs_e of the primary time constant estimated value τs_e estimated in S2 is calculated, and it is determined in S3 whether or not the state in which the rate of change Δτs_e is equal to or less than the predetermined first threshold value continues for a predetermined time t1.

条件を満たしていない場合はＳ１に戻り、（８）式の演算を繰り返し、一次時定数推定値τｓ＿ｅの推定を続ける。条件を満たした場合には、Ｓ４へ移行し、その時の一次時定数推定値τｓ＿ｅの値を保持したまま推定を中止し、Ｓ５へ移行して二次時定数推定値τｒ＿ｅの推定を開始する。 If the condition is not satisfied, the process returns to S1, the operation of Eq. (8) is repeated, and the estimation of the first-order time constant estimated value τs_e is continued. When the condition is satisfied, the process proceeds to S4, the estimation is stopped while holding the value of the primary time constant estimated value τs_e at that time, and the process proceeds to S5 to start the estimation of the secondary time constant estimated value τr_e.

二次時定数推定値τｒ＿ｅは（９）式で演算する。二次時定数推定値τｒ＿ｅは（９）式を積分し、その逆数をとることで求める。 The quadratic time constant estimated value τr_e is calculated by Eq. (9). The quadratic time constant estimate τr_e is obtained by integrating Eq. (9) and taking the reciprocal of it.

（９）式はγ軸電流誤差ｅｉγｓとδ軸電流誤差ｅｉδｓがゼロとなるように調整する信号を二次時定数推定値τｒ＿ｅとする演算である。 Equation (9) is an operation in which the signal adjusted so that the γ-axis current error eiγs and the δ-axis current error eiδs become zero is set as the quadratic time constant estimated value τr_e.

Ｓ６で、推定した二次時定数推定値τｒ＿ｅの変化率Δτｒ＿ｅを演算し、Ｓ７で変化率Δτｒ＿ｅがあらかじめ定めた第２閾値以下の状態を所定時間ｔ２継続しているか判定する。条件を満たしていない場合はＳ５に戻り、（９）式の演算を繰り返し、二次時定数推定値τｒ＿ｅの推定を続ける。条件を満たした場合には、Ｓ８へ移行し、二次時定数推定値τｒ＿ｅの値を保持したまま推定を中止し、Ｓ１に戻って一次時定数推定値τｓ＿ｅの推定を開始する。 In S6, the rate of change Δτr_e of the estimated secondary time constant estimated value τr_e is calculated, and in S7, it is determined whether or not the state in which the rate of change Δτr_e is equal to or less than the predetermined second threshold value continues for a predetermined time t2. If the condition is not satisfied, the process returns to S5, the operation of Eq. (9) is repeated, and the estimation of the quadratic time constant estimated value τr_e is continued. When the condition is satisfied, the process proceeds to S8, the estimation is stopped while holding the value of the secondary time constant estimated value τr_e, and the process returns to S1 to start the estimation of the primary time constant estimated value τs_e.

本実施形態１では、電流モデルとの誤差がゼロとなるように二次時定数を調整することで、力行・回生の運転状態の判別を行うことなく、誘導電動機ＩＭのトルクを精度よく制御できる。 In the first embodiment, the torque of the induction motor IM can be accurately controlled without discriminating the operating state of power running and regeneration by adjusting the secondary time constant so that the error from the current model becomes zero. ..

本実施形態１での回転数，トルク，一次時定数推定値の逆数１／τｓ＿ｅ，二次時定数推定値の逆数１／τｒ＿ｅ，γ軸，δ軸電流誤差ｅｉγｓ，ｅｉδｓを図４に示す。図４は時刻Ａまでと時刻Ｂ以降が回生領域（回転数×トルク＜０），時刻ＡＢ間が力行領域（回転数×トルク＞０）である。図５は、図４のトルク部の拡大図である。 FIG. 4 shows the rotation speed, torque, reciprocal of the primary time constant estimate 1 / τs_e, reciprocal of the secondary time constant estimate 1 / τr_e, γ-axis, and δ-axis current errors eiγs and eiδs in the first embodiment. In FIG. 4, the regeneration region (rotation speed x torque <0) is between the time A and after the time B, and the power running region (rotation speed x torque> 0) is between the time AB. FIG. 5 is an enlarged view of the torque portion of FIG.

時刻（１）までは、パラメータ設定誤差として一次時定数推定値の逆数１／τｓ＿ｅは一次時定数の逆数１／τｓに対して−５［％］の誤差、二次時定数推定値の逆数１／τｒ＿ｅは二次時定数の逆数１／τｒに対して＋５［％］の誤差が生じた状態で運転を行っている。パラメータ誤差の影響でトルク指令値Ｔ＿ｒに対してトルク検出値Ｔ＿ｄに誤差が生じており、トルク精度が良くないことが確認できる。 Until time (1), the reciprocal of the primary time constant 1 / τs_e is an error of -5 [%] with respect to the reciprocal 1 / τs of the primary time constant as a parameter setting error, and the reciprocal 1 of the secondary time constant estimate. / Τr_e is operating with an error of +5 [%] with respect to the reciprocal 1 / τr of the quadratic time constant. It can be confirmed that the torque detection value T_d has an error with respect to the torque command value T_r due to the influence of the parameter error, and the torque accuracy is not good.

時刻（１）にて推定開始信号Ｓｔａｒｔ＿ｅｓｔを受信し推定開始となる。まずは、一次時定数推定値の逆数１／τｓ＿ｅを推定するため、一次時定数推定値の逆数１／τｓ＿ｅが変化していることが確認できる。その後、一次時定数推定値の逆数１／τｓ＿ｅの変化率が第１閾値以下となり所定時間ｔ１経過した時刻が（２）である。時刻（２）で一次時定数推定値τｓ＿ｅの推定を中止し、その値を保持し二次時定数推定値τｒ＿ｅの推定を開始する。 At time (1), the estimation start signal Start_est is received and the estimation starts. First, since the reciprocal 1 / τs_e of the first-order time constant estimate is estimated, it can be confirmed that the reciprocal 1 / τs_e of the first-order time constant estimate has changed. After that, the rate of change of the reciprocal 1 / τs_e of the estimated primary time constant becomes equal to or less than the first threshold value, and the time when the predetermined time t1 elapses is (2). At time (2), the estimation of the primary time constant estimated value τs_e is stopped, the value is retained, and the estimation of the secondary time constant estimated value τr_e is started.

二次時定数推定値τｒ＿ｅの推定開始後、その変化率Δτｒ＿ｅが第２閾値以下となり所定時間ｔ２経過した時刻が（３）である。ここで、二次時定数推定値τｒ＿ｅの推定を中止し、その値を保持して再び一次時定数推定値τｓ＿ｅの推定を開始する。 (3) is the time when the rate of change Δτr_e becomes equal to or less than the second threshold value and a predetermined time t2 elapses after the estimation of the secondary time constant estimated value τr_e is started. Here, the estimation of the secondary time constant estimated value τr_e is stopped, the value is held, and the estimation of the primary time constant estimated value τs_e is started again.

この動作を繰り返すことで、図４は一次時定数推定値の逆数１／τｓ＿ｅ，二次時定数推定値の逆数１／τｒ＿ｅが１００［％］に近づき、トルク精度もよくなっていることが確認できる。 By repeating this operation, it is confirmed that the reciprocal 1 / τs_e of the primary time constant estimate and the reciprocal 1 / τr_e of the secondary time constant estimate approach 100 [%] in FIG. 4, and the torque accuracy is also improved. it can.

また、推定中に回生から力行，力行から回生と運転状態が変化しているが、運転状態判別なしであるにもかかわらず、推定が不安定となることなくパラメータ誤差を小さくするように動作することができていることを確認できる。 In addition, although the operating state changes from regeneration to power running and from power running to regeneration during estimation, it operates so as to reduce the parameter error without making the estimation unstable even though the operating state is not discriminated. You can confirm that you are able to do it.

本実施形態１によれば、力行・回生の判別を必要とせずに４象限運転時のパラメータ誤差補償を行うことができ、ベクトル制御性能を向上させることが可能となる。 According to the first embodiment, parameter error compensation during 4-quadrant operation can be performed without requiring discrimination between power running and regeneration, and vector control performance can be improved.

また、本実施形態１は力行・回生の判別が不要であるのでノイズの影響を受けやすい計測器等を使用する場合においても安定して適応制御を行うことが可能となり、ロバスト性も向上する。 Further, since the present embodiment 1 does not require discrimination between power running and regeneration, stable adaptive control can be performed even when a measuring instrument or the like that is easily affected by noise is used, and robustness is also improved.

［実施形態２］
本実施形態２の制御システムの構成は実施形態１（図１）と同様である。 [Embodiment 2]
The configuration of the control system of the second embodiment is the same as that of the first embodiment (FIG. 1).

本実施形態２は、時定数推定部９ｂの動作が実施形態１とは異なる。図６に本実施形態２の時定数推定部９ｂのフローチャートを示す。 In the second embodiment, the operation of the time constant estimation unit 9b is different from that of the first embodiment. FIG. 6 shows a flowchart of the time constant estimation unit 9b of the second embodiment.

本実施形態２のフローチャートでは、実施形態１のフローチャートにおけるＳ１〜Ｓ８に加え、Ｓ９，Ｓ１０の処理を行う。 In the flowchart of the second embodiment, the processes of S9 and S10 are performed in addition to S1 to S8 in the flowchart of the first embodiment.

Ｓ９では、一次時定数推定値の変化率Δτｓ＿ｅが第３閾値ａ＿ｍａｘ以上で所定時間ｔ１ｂ継続しているか否かを判定し、第３閾値ａ＿ｍａｘ以上で所定時間ｔ１ｂ継続している場合はＳ４へ移行し、一次時定数推定値τｓ＿ｅを保持し、一次時定数推定値τｓ＿ｅの推定を中止する。 In S9, it is determined whether or not the rate of change Δτs_e of the primary time constant estimated value continues t1b for a predetermined time at the third threshold value a_max or more, and if it continues at t1b for a predetermined time at the third threshold value a_max or more, the process proceeds to S4. Then, the primary time constant estimated value τs_e is retained, and the estimation of the primary time constant estimated value τs_e is stopped.

それ以外の場合はＳ３へ移行し、一次時定数推定値の変化率Δτｓ＿ｅが第１閾値ａ＿ｍｉｎ以下で所定時間ｔ１ａ継続しているか否かを判定し、第１閾値ａ＿ｍｉｎ以下で所定時間ｔ１ａ継続している場合はＳ４へ移行し、それ以外の場合はＳ１に戻る。 In other cases, the process proceeds to S3, and it is determined whether or not the rate of change Δτs_e of the primary time constant estimated value continues t1a for a predetermined time at the first threshold value a_min or less, and continues t1a for a predetermined time at the first threshold value a_min or less. If so, the process proceeds to S4, and in other cases, the process returns to S1.

また、Ｓ１０では、二次時定数推定値の変化率Δτｒ＿ｅが第４閾値ｂ＿ｍａｘ以上で所定時間ｔ２ｂ継続しているか否かを判定し、第４閾値ｂ＿ｍａｘ以上で所定時間ｔ２ｂ継続している場合はＳ８へ移行し、二次時定数推定値τｒ＿ｅを保持し、二次時定数推定値τｒ＿ｅの推定を中止する。 Further, in S10, it is determined whether or not the rate of change Δτr_e of the secondary time constant estimated value continues t2b for a predetermined time at the fourth threshold value b_max or more, and if it continues t2b for a predetermined time at the fourth threshold value b_max or more. The process proceeds to S8, the secondary time constant estimated value τr_e is held, and the estimation of the secondary time constant estimated value τr_e is stopped.

それ以外の場合はＳ７へ移行し、二次時定数推定値の変化率Δτｒ＿ｅが第２閾値ｂ＿ｍｉｎ以下で所定時間ｔ２ａ継続しているか否かを判定し、第２閾値ｂ＿ｍｉｎ以下で所定時間ｔ２ａ継続している場合はＳ８へ移行し、それ以外の場合はＳ５に戻る。 In other cases, the process proceeds to S7, and it is determined whether or not the rate of change Δτr_e of the secondary time constant estimated value continues t2a for a predetermined time below the second threshold value b_min, and continues t2a for a predetermined time below the second threshold value b_min. If it is, the process proceeds to S8, and in other cases, the process returns to S5.

すなわち、一次時定数推定値，二次時定数推定値の変化率Δτｓ＿ｅ，Δτｒ＿ｅの上限を設定し、変化率Δτｓ＿ｅ，Δτｒ＿ｅが第３，第４閾値ａ＿ｍａｘ（一次時定数推定値の場合）ｂ＿ｍａｘ（二次時定数推定値の場合）を超えた場合に、推定を中止する機能を追加している。なお、変化率Δτｓ＿ｅ，Δτｒ＿ｅの第３，第４閾値ａ＿ｍａｘ，ｂ＿ｍａｘは以下の関係となるように設定する。（ａ＿ｍａｘ＞ａ＿ｍｉｎ），（ｂ＿ｍａｘ＞ｂ＿ｍｉｎ）。 That is, the upper limit of the change rates Δτs_e and Δτr_e of the primary time constant estimate and the secondary time constant estimate is set, and the change rates Δτs_e and Δτr_e are the third and fourth thresholds a_max (in the case of the primary time constant estimate) b_max (in the case of the primary time constant estimate). A function has been added to stop the estimation when the (in the case of the secondary time constant estimation value) is exceeded. The third and fourth thresholds a_max and b_max of the rate of change Δτs_e and Δτr_e are set so as to have the following relationship. (A_max> a_min), (b_max> b_min).

実施形態１では、外乱ノイズなどの影響によって時定数調整器９に入力されるγ軸，δ軸電流検出値ｉγｓ＿ｄ，ｉδｓ＿ｄに誤差が生じた場合に、一次時定数推定値τｓ＿ｅ，二次時定数推定値τｒ＿ｅが発散してしまう恐れがある。 In the first embodiment, when an error occurs in the γ-axis and δ-axis current detection values iγs_d and iδs_d input to the time constant regulator 9 due to the influence of disturbance noise or the like, the primary time constant estimated value τs_e and the secondary time constant The estimated value τr_e may diverge.

しかし、本実施形態２により、一次時定数推定値τｓ＿ｅ，二次時定数推定値τｒ＿ｅが発散するような状況で確実に推定を中止することができる。 However, according to the second embodiment, the estimation can be reliably stopped in a situation where the primary time constant estimated value τs_e and the secondary time constant estimated value τr_e diverge.

以上示したように、本実施形態２では、実施形態１の効果に加え、一次時定数推定値τｓ＿ｅ，二次時定数推定値τｒ＿ｅが発散するような状況になった場合を検出することが可能となるため、適応制御系のロバスト性を実施形態１よりも保証することが可能となる。 As shown above, in the second embodiment, in addition to the effect of the first embodiment, it is possible to detect a case where the primary time constant estimated value τs_e and the secondary time constant estimated value τr_e diverge. Therefore, it is possible to guarantee the robustness of the adaptive control system as compared with the first embodiment.

［実施形態３］
本実施形態３は、時定数調整器９の構成が実施形態１と異なる。その他の構成は実施形態１と同様である。本実施形態３の時定数調整器９の構成を図７に示す。図７に示すように、本実施形態３の時定数推定部９ｂは、バッファを介した前回一次時定数推定値τｓ＿ｅｚ，前回二次時定数推定値τｒ＿ｅｚが入力される。 [Embodiment 3]
In the third embodiment, the configuration of the time constant adjuster 9 is different from that of the first embodiment. Other configurations are the same as those in the first embodiment. The configuration of the time constant adjuster 9 of the third embodiment is shown in FIG. As shown in FIG. 7, the time constant estimation unit 9b of the third embodiment inputs the previous primary time constant estimated value τs_ez and the previous secondary time constant estimated value τr_ez via the buffer.

図８に本実施形態３の時定数推定部９ｂの動作フローチャートを示す。本実施形態３では、実施形態１のフローチャートに、Ｓ１１，Ｓ１２，Ｓ１３，Ｓ１４の処理が加えられている。 FIG. 8 shows an operation flowchart of the time constant estimation unit 9b of the third embodiment. In the third embodiment, the processes of S11, S12, S13, and S14 are added to the flowchart of the first embodiment.

Ｓ１１では、一次時定数推定値の変化率の絶対値｜Δτｓ＿ｅ｜のリミッタ処理を行う。このリミッタ処理でのリミッタ値が第１リミッタ値ａ＿ｌｉｍである。さらに、一次時定数推定値の変化率の絶対値｜Δτｓ＿ｅ｜が第１リミッタ値ａ＿ｌｉｍで飽和しているか否か（すなわち、リミッタ処理後の｜Δτｓ＿ｅ｜＝ａ＿ｌｉｍか否か）を判定し、飽和している場合（リミッタ処理後の｜Δτｓ＿ｅ｜＝ａ＿ｌｉｍの場合）はＳ１２、飽和していない場合（リミッタ処理後の｜Δτｓ＿ｅ｜＜ａ＿ｌｉｍの場合）はＳ３へ移行する。Ｓ３へ移行した場合は、実施形態１と同様である。 In S11, the limiter processing of the absolute value | Δτs_e | of the rate of change of the first-order time constant estimated value is performed. The limiter value in this limiter processing is the first limiter value a_lim. Further, it is determined whether or not the absolute value | Δτs_e | of the rate of change of the first-order time constant estimated value is saturated at the first limiter value a_lim (that is, whether | Δτs_e | = a_lim after the limiter processing) and saturated. If it is (in the case of | Δτs_e | = a_lim after the limiter processing), it shifts to S12, and if it is not saturated (in the case of | Δτs_e | <a_lim after the limiter treatment), it shifts to S3. When shifting to S3, it is the same as in the first embodiment.

Ｓ１２では前回一次時定数推定値τｓ＿ｅｚを一次時定数推定値τｓ＿ｅとし、Ｓ４へ移行して一次時定数推定値τｒ＿ｅを保持し、推定を中止する。 In S12, the previous primary time constant estimated value τs_ez is set to the primary time constant estimated value τs_e, and the process shifts to S4 to hold the primary time constant estimated value τr_e and stop the estimation.

Ｓ１３では、二次時定数推定値の変化率の絶対値｜Δτｒ＿ｅ｜のリミッタ処理を行う。このリミッタ処理でのリミッタ値が第２リミッタ値ｂ＿ｌｉｍである。二次時定数推定値の変化率の絶対値｜Δτｒ＿ｅ｜が第２リミッタ値ｂ＿ｌｉｍで飽和しているか否かを判定し、飽和している場合はＳ１４、飽和していない場合はＳ７へ移行する。Ｓ７へ移行した場合は実施形態１と同様である。 In S13, the limiter processing of the absolute value | Δτr_e | of the rate of change of the second-order time constant estimated value is performed. The limiter value in this limiter processing is the second limiter value b_lim. It is determined whether or not the absolute value | Δτr_e | of the rate of change of the secondary time constant estimated value is saturated at the second limiter value b_lim, and if it is saturated, it shifts to S14, and if it is not saturated, it shifts to S7. .. The case of shifting to S7 is the same as that of the first embodiment.

Ｓ１４では前回二次時定数推定値τｒ＿ｅｚを二次時定数推定値τｓ＿ｅとし、Ｓ８へ移行して二次時定数推定値τｒ＿ｅを保持し、推定を中止する。 In S14, the previous secondary time constant estimated value τr_ez is set to the secondary time constant estimated value τs_e, and the process shifts to S8 to hold the secondary time constant estimated value τr_e and stop the estimation.

すなわち、一次時定数推定値，二次時定数推定値の変化率の絶対値｜Δτｓ＿ｅ｜，｜Δτｒ＿ｅ｜に第１，第２リミッタ値ａ＿ｌｉｍ，ｂ＿ｌｉｍを設定し，一次時定数推定値，二次時定数推定値の変化率の絶対値｜Δτｓ＿ｅ｜，｜Δτｒ＿ｅ｜が第１，第２リミッタ値ａ＿ｌｉｍ，ｂ＿ｌｉｍを超えた場合に、一次，二次時定数推定値τｓ＿ｅ，τｒ＿ｅを前回一次時定数推定値τｓ＿ｅｚ、前回二次時定数推定値τｒ＿ｅｚとして推定を中止する機能を追加している。なお、第１，第２リミッタ値は以下の関係となるように設定する。（ａ＿ｌｉｍ＞ａ＿ｍｉｎ），（ｂ＿ｌｉｍ＞ｂ＿ｍｉｎ）。 That is, the first and second limiter values a_lim and b_lim are set in the absolute values | Δτs_e | and | Δτr_e | of the rate of change of the primary time constant estimated value and the secondary time constant estimated value, and the primary time constant estimated value and the secondary time constant are set. When the absolute value | Δτs_e |, | Δτr_e | of the rate of change of the time constant estimated value exceeds the first and second limiter values a_lim and b_lim, the primary and secondary time constant estimated values τs_e and τr_e are set to the previous primary time constants. A function to stop the estimation is added as the estimated value τs_ez and the previous secondary time constant estimated value τr_ez. The first and second limiter values are set so as to have the following relationship. (A_lim> a_min), (b_lim> b_min).

本実施形態３により、一次時定数推定値τｓ＿ｅ，二次時定数推定値τｓ＿ｅが発散するような状況で確実に推定を中止することができる。 According to the third embodiment, the estimation can be reliably stopped in a situation where the primary time constant estimated value τs_e and the secondary time constant estimated value τs_e diverge.

図９に、実施形態１〜３の一次時定数推定τｓ＿ｅの動作を示す。推定を開始してから通常であれば一次時定数推定値τｓ＿ｅは真値に向かい収束するが、外乱等により推定がうまくいかない場合には発散してしまうことが考えられる。実施形態１ではそのような場合に推定を止める機能がないため、図９に示すように発散している値を推定値としてすべり演算で利用し続けてしまう。 FIG. 9 shows the operation of the primary time constant estimation τs_e of the first to third embodiments. Normally, the first-order time constant estimated value τs_e converges toward the true value after the estimation is started, but it may diverge if the estimation is not successful due to disturbance or the like. In the first embodiment, since there is no function to stop the estimation in such a case, as shown in FIG. 9, the divergent value is continuously used as the estimated value in the slip calculation.

実施形態２では、発散状態が所定時間以上継続していると思われる場合には推定を中止する。しかし発散している途中の値で保持してしまうため推定開始前よりも悪い値をすべり演算で利用することとなる。 In the second embodiment, the estimation is stopped when the divergence state seems to continue for a predetermined time or longer. However, since it is retained at the value in the middle of divergence, a value worse than before the estimation start is used in the slip calculation.

本実施形態３では推定を中止した場合には、前回の値を用いるため推定開始前より悪い値をすべり演算で用いることはない。したがって、仮に発散状態が発生した場合では、実施形態２よりも精度よく誘導電動機ＩＭを制御できることになる。 In the third embodiment, when the estimation is stopped, the previous value is used, so that a value worse than before the estimation is started is not used in the slip calculation. Therefore, if a divergence state occurs, the induction motor IM can be controlled more accurately than in the second embodiment.

以上示したように、本実施形態３は、実施形態１の効果に加え、実施形態１では一次，二次時定数推定値τｓ＿ｅ，τｒ＿ｅが発散するような状況になった場合を検出することが可能となるため、適応制御系のロバスト性を保証することが可能となる。 As shown above, in the third embodiment, in addition to the effect of the first embodiment, in the first embodiment, it is possible to detect a case where the primary and secondary time constant estimated values τs_e and τr_e are diverged. Since it is possible, it is possible to guarantee the robustness of the adaptive control system.

［実施形態４］
本実施形態４における制御システムの構成は、実施形態３と同様である。本実施形態４は、時定数推定部９ｂの動作が実施形態３と異なる。図１０に本実施形態４の時定数推定部９ｂの動作フローチャートを示す。 [Embodiment 4]
The configuration of the control system in the fourth embodiment is the same as that of the third embodiment. In the fourth embodiment, the operation of the time constant estimation unit 9b is different from that of the third embodiment. FIG. 10 shows an operation flowchart of the time constant estimation unit 9b of the fourth embodiment.

本実施形態４は、実施形態３の処理に、Ｓ１５，Ｓ１６，Ｓ１７，Ｓ１８，Ｓ１９の処理が加えられている。 In the fourth embodiment, the processes of S15, S16, S17, S18, and S19 are added to the processes of the third embodiment.

Ｓ１５は、二次時定数推定値の変化率の絶対値｜Δτｒ＿ｅ｜が第２リミット値ｂ＿ｌｉｍで飽和した場合にＳ１４で前回二次時定数推定値τｒ＿ｅｚを二次時定数推定値τｒ＿ｅとした後に、二次時定数推定値τｒ＿ｅを以下の（１０）式で演算する。（１０）式は（９）式と符号が異なり、（１０）式で演算された値を逆符号二次時定数推定値とする。 In S15, when the absolute value | Δτr_e | of the rate of change of the secondary time constant estimated value is saturated with the second limit value b_lim, the previous secondary time constant estimated value τr_ez is set to the secondary time constant estimated value τr_e in S14. , The quadratic time constant estimated value τr_e is calculated by the following equation (10). Eq. (10) has a different sign from Eq. (9), and the value calculated by Eq. (10) is used as the inverse code quadratic time constant estimation value.

Ｓ１６では、逆符号二次時定数推定値τｒ＿ｅの変化率Δτｒ＿ｅを演算する。Ｓ１７は、逆符号二次時定数推定値の変化率の絶対値｜Δτｒ＿ｅ｜が第２リミッタ値ｂ＿ｌｉｍで飽和しているか否かを判定し、飽和している場合はＳ１８、飽和していない場合はＳ１９へ移行する。 In S16, the rate of change Δτr_e of the inverse sign quadratic time constant estimated value τr_e is calculated. S17 determines whether or not the absolute value | Δτr_e | of the rate of change of the inverse code quadratic time constant estimated value is saturated at the second limiter value b_lim. If it is saturated, S18 is determined, and if it is not saturated, S18 is determined. Moves to S19.

Ｓ１８は、前回二次時定数推定値τｒ＿ｅｚを二次時定数推定値τｒ＿ｅとして、Ｓ８へ移行する。Ｓ１９は、逆符号二次時定数推定値の変化率Δτｒ＿ｅが第２リミット値ｂ＿ｍｉｎ以下で所定時間ｔ２ａ継続しているか否か判定し、継続している場合はＳ８へ移行し、継続していない場合はＳ１５へ移行する。その他は実施形態３と同様である。 S18 shifts to S8 by using the previous secondary time constant estimated value τr_ez as the secondary time constant estimated value τr_e. S19 determines whether or not the rate of change Δτr_e of the inverse code quadratic time constant estimated value continues t2a for a predetermined time at the second limit value b_min or less, and if it continues, it shifts to S8 and does not continue. In that case, the process proceeds to S15. Others are the same as in the third embodiment.

すなわち、（１０）式の演算により、（９）式では電流偏差を小さくできなかった場合に電流偏差を小さくすることができる場合がある。（９）式，（１０）式の演算を行っても二次時定数推定値の変化率Δτｒ＿ｅが小さくならない場合に推定を中止する。 That is, there are cases where the current deviation can be reduced when the current deviation cannot be reduced in the formula (9) by the calculation of the equation (10). If the rate of change Δτr_e of the quadratic time constant estimated value does not decrease even after performing the operations of Eqs. (9) and (10), the estimation is stopped.

本実施形態４では、一次時定数推定値τｓ＿ｅが発散するような状況になった場合でも二次時定数推定値演算方法を（１０）式に変更するフローが追加されているため、適応制御系のロバスト性を実施形態３よりも保証することが可能となる。 In the fourth embodiment, even if the primary time constant estimated value τs_e diverges, a flow for changing the secondary time constant estimated value calculation method to the equation (10) is added, so that the adaptive control system is used. It is possible to guarantee the robustness of the above as compared with the third embodiment.

以上、本発明において、記載された具体例に対してのみ詳細に説明したが、本発明の技術思想の範囲で多彩な変形および修正が可能であることは、当業者にとって明白なことであり、このような変形および修正が特許請求の範囲に属することは当然のことである。 Although the above description has been made in detail only with respect to the specific examples described in the present invention, it is clear to those skilled in the art that various modifications and modifications can be made within the scope of the technical idea of the present invention. It goes without saying that such modifications and modifications fall within the scope of the claims.

１…電流指令演算部
２ａ，２ｂ…減算部
３…電流制御部
４…第１座標変換部
５…ＰＷＭインバータ
６…第２座標変換部
７…適応制御部
８…電流オブザーバ
９…時定数調整器
１０…すべり演算・電気角演算部
１１…積分器 1 ... Current command calculation unit 2a, 2b ... Subtraction unit 3 ... Current control unit 4 ... 1st coordinate conversion unit 5 ... PWM inverter 6 ... 2nd coordinate conversion unit 7 ... Adaptive control unit 8 ... Current observer 9 ... Time constant adjuster 10 ... Sliding calculation / electric angle calculation unit 11 ... Inverter

Claims

γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、
前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、
前記三相電圧指令値に応じた電圧を出力するインバータと、
前記インバータが出力した電圧により駆動する誘導電動機と、
前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、
前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、
前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、
前記二次時定数推定値の逆数に基づいて、前記電気角演算値を演算するすべり演算・電気角演算部と、
を備え、
前記時定数推定部は、
前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、
それ以外の場合は、繰り返し前記一次時定数推定値の演算を行い、
前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合は前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、
それ以外の場合は、繰り返し前記二次時定数推定値の演算を行うことを特徴とする誘導電動機の制御装置。 Current control that outputs the γ-axis voltage command value and the δ-axis voltage command value based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. With a vessel
A first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and
An inverter that outputs a voltage according to the three-phase voltage command value, and
An induction motor driven by the voltage output by the inverter,
A second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value, and
The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimated value, and the secondary time. A current observer that calculates the γ-axis current estimate and the δ-axis current estimate based on the inverse of the constant estimate and the machine speed.
The γ-axis current detected value, the δ-axis current detected value, the γ-axis current error which is the difference between the γ-axis current estimated value and the γ-axis current detected value, the δ-axis current estimated value, and the δ-axis A time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse of the secondary time constant estimation value based on the δ-axis current error, which is the difference from the current detection value, and the estimation start signal.
On the basis of the reciprocal of the secondary time constant estimate, and the sliding operation and electrical angle calculator for calculating the electrical angle calculation value,
With
The time constant estimation unit
When the rate of change of the primary time constant estimate is equal to or less than the first threshold value and a predetermined time has elapsed, the estimation of the primary time constant estimate is stopped and the current primary time constant estimate is retained.
In other cases, the first-order time constant estimate is repeatedly calculated.
If the rate of change of the secondary time constant estimate is equal to or less than the second threshold value and a predetermined time has elapsed, the estimation of the secondary time constant estimate is stopped and the current secondary time constant estimate is retained.
In other cases, the control device for the induction motor, characterized in that the calculation of the secondary time constant estimated value is repeatedly performed.

γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、
前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、
前記三相電圧指令値に応じた電圧を出力するインバータと、
前記インバータが出力した電圧により駆動する誘導電動機と、
前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、
前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、
前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、
前記二次時定数推定値の逆数に基づいて、前記電気角演算値を演算するすべり演算・電気角演算部と、
を備え、
前記時定数推定部は、
前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合、または、前記一次時定数推定値の変化率が前記第１閾値よりも大きい第３閾値以上で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、
それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、
前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合、または、前記二次時定数推定値の変化率が前記第２閾値よりも大きい第４閾値以上で所定時間経過している場合は前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、
それ以外の場合は、繰り返し、前記二次時定数推定値の演算を行うことを特徴とする誘導電動機の制御装置。 Current control that outputs the γ-axis voltage command value and the δ-axis voltage command value based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. With a vessel
A first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and
An inverter that outputs a voltage according to the three-phase voltage command value, and
An induction motor driven by the voltage output by the inverter,
A second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value, and
The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimated value, and the secondary time. A current observer that calculates the γ-axis current estimate and the δ-axis current estimate based on the inverse of the constant estimate and the machine speed.
The γ-axis current detected value, the δ-axis current detected value, the γ-axis current error which is the difference between the γ-axis current estimated value and the γ-axis current detected value, the δ-axis current estimated value, and the δ-axis A time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse of the secondary time constant estimation value based on the δ-axis current error, which is the difference from the current detection value, and the estimation start signal.
On the basis of the reciprocal of the secondary time constant estimate, and the sliding operation and electrical angle calculator for calculating the electrical angle calculation value,
With
The time constant estimation unit
When the rate of change of the primary time constant estimated value is equal to or less than the first threshold value and a predetermined time has elapsed, or when the rate of change of the primary time constant estimated value is greater than or equal to the third threshold value and the predetermined time has elapsed. If so, the estimation of the primary time constant estimate is stopped and the current primary time constant estimate is retained.
In other cases, the calculation of the first-order time constant estimate is repeated, and the operation is performed.
When the rate of change of the secondary time constant estimated value is equal to or less than the second threshold value and a predetermined time has elapsed, or when the rate of change of the secondary time constant estimated value is greater than or equal to the fourth threshold value. If time has passed, the estimation of the secondary time constant estimate is stopped and the current secondary time constant estimate is retained.
In other cases, the control device for the induction motor, characterized in that the calculation of the secondary time constant estimated value is repeatedly performed.

γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、
前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、
前記三相電圧指令値に応じた電圧を出力するインバータと、
前記インバータが出力した電圧により駆動する誘導電動機と、
前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、
前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、
前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、
前記二次時定数推定値の逆数に基づいて、前記電気角演算値を演算するすべり演算・電気角演算部と、
を備え、
前記時定数推定部は、
前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、
前記一次時定数推定値の変化率の絶対値が前記第１閾値よりも大きい第１リミッタ値で飽和している場合は前回一次時定数推定値を前記一次時定数推定値として保持して前記一次時定数推定値の推定を中止し、
それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、
前記二次時定数推定値の変化率が第２閾値以下で所定時間経過している場合、前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、
前記二次時定数推定値の変化率の絶対値が前記第２閾値よりも大きい第２リミッタ値で飽和している場合は前回二次時定数推定値を前記二次時定数推定値として保持して前記二次時定数推定値の推定を中止し、
それ以外の場合は、繰り返し、前記二次時定数推定値の演算を行うことを特徴とする誘導電動機の制御装置。 Current control that outputs the γ-axis voltage command value and the δ-axis voltage command value based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. With a vessel
A first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and
An inverter that outputs a voltage according to the three-phase voltage command value, and
An induction motor driven by the voltage output by the inverter,
A second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value, and
The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimated value, and the secondary time. A current observer that calculates the γ-axis current estimate and the δ-axis current estimate based on the inverse of the constant estimate and the machine speed.
The γ-axis current detected value, the δ-axis current detected value, the γ-axis current error which is the difference between the γ-axis current estimated value and the γ-axis current detected value, the δ-axis current estimated value, and the δ-axis A time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse of the secondary time constant estimation value based on the δ-axis current error, which is the difference from the current detection value, and the estimation start signal.
On the basis of the reciprocal of the secondary time constant estimate, and the sliding operation and electrical angle calculator for calculating the electrical angle calculation value,
With
The time constant estimation unit
When the rate of change of the primary time constant estimate is equal to or less than the first threshold value and a predetermined time has elapsed, the estimation of the primary time constant estimate is stopped and the current primary time constant estimate is retained.
When the absolute value of the rate of change of the primary time constant estimate is saturated with the first limiter value larger than the first threshold value, the previous primary time constant estimate is held as the primary time constant estimate and the primary is held. Stop estimating the time constant estimate and stop
In other cases, the calculation of the first-order time constant estimate is repeated, and the operation is performed.
When the rate of change of the secondary time constant estimate is equal to or less than the second threshold value and a predetermined time has elapsed, the estimation of the secondary time constant estimate is stopped and the current secondary time constant estimate is retained.
When the absolute value of the rate of change of the secondary time constant estimated value is saturated with the second limiter value larger than the second threshold value, the previous secondary time constant estimated value is retained as the secondary time constant estimated value. To stop the estimation of the secondary time constant estimate,
In other cases, the control device for the induction motor, characterized in that the calculation of the secondary time constant estimated value is repeatedly performed.

γ軸電流指令値とγ軸電流検出値との偏差，δ軸電流指令値とδ軸電流検出値との偏差に基づいて、γ軸電圧指令値とδ軸電圧指令値とを出力する電流制御器と、
前記γ軸電圧指令値と前記δ軸電圧指令値とを三相電圧指令値に変換する第１座標変換部と、
前記三相電圧指令値に応じた電圧を出力するインバータと、
前記インバータが出力した電圧により駆動する誘導電動機と、
前記インバータの三相電流検出値を前記γ軸電流検出値，前記δ軸電流検出値に変換する第２座標変換部と、
前記γ軸電圧指令値と、前記δ軸電圧指令値と、前記γ軸電流検出値と、前記δ軸電流検出値と、電気角演算値と、一次時定数推定値の逆数と、二次時定数推定値の逆数と、機械回転数と、に基づいて、γ軸電流推定値と、δ軸電流推定値を演算する電流オブザーバと、
前記γ軸電流検出値と、前記δ軸電流検出値と、前記γ軸電流推定値と前記γ軸電流検出値との差分であるγ軸電流誤差と、前記δ軸電流推定値と前記δ軸電流検出値との差分であるδ軸電流誤差と、推定開始信号と、に基づいて前記一次時定数推定値の逆数と前記二次時定数推定値の逆数を演算する時定数推定部と、
前記二次時定数推定値の逆数に基づいて、前記電気角演算値を演算するすべり演算・電気角演算部と、
を備え、
前記時定数推定部は、
前記一次時定数推定値の変化率が第１閾値以下で所定時間経過している場合は前記一次時定数推定値の推定を中止して現在の前記一次時定数推定値を保持し、
前記一次時定数推定値の変化率の絶対値が前記第１閾値よりも大きい第１リミッタ値で飽和している場合は前回一次時定数推定値を前記一次時定数推定値として保持して前記一次時定数推定値の推定を中止し、
それ以外の場合は、繰り返し、前記一次時定数推定値の演算を行い、
前記二次時定数推定値の変化率が第２閾値以下で所定時間以上経過しておらず、かつ、前記二次時定数推定値の変化率の絶対値が前記第２閾値よりも大きい第２リミッタ値で飽和していない場合は、繰り返し、前記二次時定数推定値の演算を行い、
前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過している場合は、前記二次時定数推定値の推定を中止して現在の前記二次時定数推定値を保持し、
前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、かつ、前記二次時定数推定値を演算した値に−１を乗算した逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和している場合は、前回二次時定数推定値を前記二次時定数推定値として保持して前記二次時定数推定値の推定を中止し、
前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、前記逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記逆符号二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過している場合は、前記逆符号二次時定数推定値を保持して前記二次時定数推定値の推定を中止し、
前記二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和し、前記逆符号二次時定数推定値の変化率の絶対値が前記第２リミッタ値で飽和しておらず、かつ、前記逆符号二次時定数推定値の変化率が前記第２閾値以下で所定時間以上経過していない場合は、繰り返し、前記逆符号二次時定数推定値の演算を行うことを特徴とする誘導電動機の制御装置。 Current control that outputs the γ-axis voltage command value and the δ-axis voltage command value based on the deviation between the γ-axis current command value and the γ-axis current detection value and the deviation between the δ-axis current command value and the δ-axis current detection value. With a vessel
A first coordinate conversion unit that converts the γ-axis voltage command value and the δ-axis voltage command value into a three-phase voltage command value, and
An inverter that outputs a voltage according to the three-phase voltage command value, and
An induction motor driven by the voltage output by the inverter,
A second coordinate conversion unit that converts the three-phase current detection value of the inverter into the γ-axis current detection value and the δ-axis current detection value, and
The γ-axis voltage command value, the δ-axis voltage command value, the γ-axis current detection value, the δ-axis current detection value, the electric angle calculation value, the inverse of the primary time constant estimated value, and the secondary time. A current observer that calculates the γ-axis current estimate and the δ-axis current estimate based on the inverse of the constant estimate and the machine speed.
The γ-axis current detected value, the δ-axis current detected value, the γ-axis current error which is the difference between the γ-axis current estimated value and the γ-axis current detected value, the δ-axis current estimated value, and the δ-axis A time constant estimation unit that calculates the inverse of the primary time constant estimation value and the inverse of the secondary time constant estimation value based on the δ-axis current error, which is the difference from the current detection value, and the estimation start signal.
On the basis of the reciprocal of the secondary time constant estimate, and the sliding operation and electrical angle calculator for calculating the electrical angle calculation value,
With
The time constant estimation unit
When the rate of change of the primary time constant estimate is equal to or less than the first threshold value and a predetermined time has elapsed, the estimation of the primary time constant estimate is stopped and the current primary time constant estimate is retained.
When the absolute value of the rate of change of the primary time constant estimate is saturated with the first limiter value larger than the first threshold value, the previous primary time constant estimate is held as the primary time constant estimate and the primary is held. Stop estimating the time constant estimate and stop
In other cases, the calculation of the first-order time constant estimate is repeated, and the operation is performed.
A second value in which the rate of change of the secondary time constant estimate is equal to or less than the second threshold value and has not elapsed for a predetermined time or more, and the absolute value of the rate of change of the secondary time constant estimate is larger than the second threshold value. If it is not saturated with the limiter value, the calculation of the quadratic time constant estimate is repeated, and the calculation is performed.
The absolute value of the rate of change of the secondary time constant estimate is not saturated with the second limiter value, and the rate of change of the secondary time constant estimate is equal to or less than the second threshold value, and a predetermined time or more has elapsed. If so, the estimation of the quadratic time constant estimate is stopped and the current quadratic time constant estimate is retained.
The absolute value of the rate of change of the secondary time constant estimated value is saturated with the second limiter value, and the inverse code secondary time constant estimated value obtained by multiplying the calculated value of the secondary time constant estimated value by -1. If the absolute value of the rate of change of is saturated with the second limiter value, the previous secondary time constant estimate is held as the secondary time constant estimate and the estimation of the secondary time constant estimate is stopped. And
The absolute value of the rate of change of the secondary time constant estimate is saturated with the second limiter value, and the absolute value of the rate of change of the inverse code secondary time constant estimate is not saturated with the second limiter value. In addition, when the rate of change of the inverse code secondary time constant estimated value is equal to or less than the second threshold value and a predetermined time or more has elapsed, the inverse code secondary time constant estimated value is retained and the secondary time constant is retained. Stop estimating the estimated value and
The absolute value of the rate of change of the secondary time constant estimate is saturated with the second limiter value, and the absolute value of the rate of change of the inverse code secondary time constant estimate is not saturated with the second limiter value. In addition, when the rate of change of the inverse code secondary time constant estimated value is equal to or less than the second threshold value and the predetermined time or more has not elapsed, the operation of the inverse code secondary time constant estimated value is repeatedly performed. The control device for the induction motor.