JPS63274390A - Controller for motor - Google Patents
Controller for motorInfo
- Publication number
- JPS63274390A JPS63274390A JP62107131A JP10713187A JPS63274390A JP S63274390 A JPS63274390 A JP S63274390A JP 62107131 A JP62107131 A JP 62107131A JP 10713187 A JP10713187 A JP 10713187A JP S63274390 A JPS63274390 A JP S63274390A
- Authority
- JP
- Japan
- Prior art keywords
- current
- motor
- value
- signal
- retaining
- 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.)
- Pending
Links
- 230000006698 induction Effects 0.000 abstract description 5
- 230000000717 retained effect Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 description 10
- 230000005284 excitation Effects 0.000 description 7
- 239000003990 capacitor Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009499 grossing Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000004907 flux Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 150000004767 nitrides Chemical class 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
Landscapes
- Motor And Converter Starters (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、１１動機の制御装置の電動機電流検出器の
オフセラトロ整に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to off-cell adjustment of a motor current detector of a control device for an 11-motor.
第８図は、例えば特開昭６１−１０９８８号公報に示さ
れた従来の電動機の制御装置であり、勇８図中、凡、８
．Ｔは三相交流電帥、（２）は交流ｗ源り。FIG. 8 shows a conventional electric motor control device shown in, for example, Japanese Patent Application Laid-open No. 10988/1988.
．． T is a three-phase AC electric current, and (2) is an AC w source.
８、Ｔに接続され直流出力電圧を発生するように制Ｈさ
れるコンバータ、（３）はコンバータ（２）の出力を平
滑にする平滑コンデンサ、（４）は抵抗とクイ−１チ素
子によりなる回生制動回路、（５）は平滑コンデンサ（
３）の両端に接続されトランジスタとダイオードで＃Ｉ
成されてパルス幅変調（ＰＷＭＪ方式によって可変電圧
・可変周波数の交流出力（５ａ）〜（５Ｃ）を発生する
ＰＷＭインバータ、（６）はインバータ（５）の出力に
よって駆動される三相ｄ１導窒動機、（７）は電動機（
６）に直結され電動機（６）の−転速度に比例する速Ｉ
信号＜７＆）を発する速度検出器、（８）は電動機（６
）により駆動される負荷、（２）〜α組よＵＩ！！１機
（６）の各相の一次穿流に対応するＶ流帰還信号（１２
す〜（１４りを発する変流器、（至）は後述する正弦波
信号（２１り及び余弦波信号（２１ｂＪを入力してγ流
帰還信号（１２ａ）〜（１４りを電動機（６）の二次磁
束ベクトルの角速度ωに同期して回転する座標軸上の励
磁電流成分信号（１５ａ）とトルク電流成分信号（１５
Ｊに変換する三相／二相変換回路η）らなる座標変換回
路Ａ（第４図）、αＯは除算器、αηは入力に係数を乗
じて滑り周波数信号（１７りを発する係数乗算回路、（
至）は速度信号（７ａ月ζ入力する利得ＰＣｆｂ機（６
）の極対数に相当ノの正転増幅器、０ｇは滑り周波数信
号（１７りと正転増幅器（至）の出力を加算して同期角
速度信号（１９ａ）を発する加算器、翰は同期角速度信
号（１９りを積分して二次磁束ベクトルの位相角信号（
２０りを発する積分器、？υは位相角信号（２０りを入
力してそれに対応する正弦波信号（２１１及び余弦波信
号（２１ｂ）を発する関数発注器（イ）は励磁電流成分
指令値−から励磁電流成分信号（１５ａ）をｇ算してそ
の偏差信号を発する減算器、（ロ）は遅れ進み回路で構
成され減算器（イ）の出力が零になるように制御する励
磁電流成分制御回路で、（２４８）は励磁電圧成分指令
値、（イ）は速度指令値−から速度信号（７ａ）を減算
しその偏差信号を発する減算器、弼は連れ進み回路でｍ
成され減算器（至）の出力が零になる。Ｊ：’＋に制御
する速度制御回路で、（２７りはトルク重圧成分指令値
、（至）はトルク方圧成分指令値（２７１からトルク電
流成分信号（１５ｂ）を減算してその偏差信号を発する
減算器、四は遅れ進み回路でｔ＊成され減算器に）の出
力が零になるＪうに制御するトルク電流成分制御回路で
、（２９Ｂ）ζ、ストルク宥正圧成分指令値■は正弦波
信号（２１り及び余弦波信号（２１ｂ）を入力して励磁
電圧成分指令値（２４＆Ｊ及びトルク電圧成分指令値（
２９ａＪを三相各相の一次電圧指令値（３０１〜（３０
０月ご変換する二相／三相変換回路からなる座標変換回
路Ｂである。8. A converter connected to T and controlled to generate a DC output voltage, (3) is a smoothing capacitor that smooths the output of converter (2), and (4) is composed of a resistor and a Q1 element. Regenerative braking circuit, (5) is a smoothing capacitor (
3) Connected to both ends of #I with a transistor and a diode
A PWM inverter that generates variable voltage/variable frequency AC outputs (5a) to (5C) by pulse width modulation (PWMJ method), (6) is a three-phase d1 nitride converter driven by the output of the inverter (5) The motive, (7) is the electric motor (
6) is directly connected to the motor (6) and is proportional to the -rotational speed of the electric motor (6).
speed detector which emits a signal <7 &), (8) is the electric motor (6
), the load driven by (2) ~ α group UI! ! V flow feedback signal (12
(to) inputs the sine wave signal (21 and cosine wave signal (21bJ), which will be described later), and generates the gamma current feedback signal (12a) to (14) of the motor (6). Excitation current component signal (15a) and torque current component signal (15a) on the coordinate axis rotating in synchronization with the angular velocity ω of the secondary magnetic flux vector
A coordinate conversion circuit A (Fig. 4) consisting of a three-phase/two-phase conversion circuit η) that converts into J, αO is a divider, αη is a coefficient multiplication circuit that multiplies the input by a coefficient and generates a slip frequency signal (17), (
) is the speed signal (7a month ζ input gain PCfb machine (6
), 0g is an adder that adds the output of the slip frequency signal (17) and the output of the normal rotation amplifier (to) to generate a synchronous angular velocity signal (19a), and 0g is an adder that generates a synchronous angular velocity signal (19a). 19 is integrated to obtain the phase angle signal of the secondary magnetic flux vector (
An integrator that emits 20 ri? υ is a function orderer (a) that inputs a phase angle signal (20) and generates a corresponding sine wave signal (211) and a cosine wave signal (21b). (248) is an excitation current component control circuit that is composed of a delay/lead circuit and controls the output of the subtractor (A) to be zero. Voltage component command value, (a) is a subtracter that subtracts the speed signal (7a) from the speed command value - and generates the deviation signal, and 2 is the lead-in circuit.
The output of the subtractor (to) becomes zero. In the speed control circuit that controls J:'+, (27 is the torque heavy pressure component command value, (to) is the torque direction pressure component command value (271 is subtracted from the torque current component signal (15b) and the deviation signal is obtained. 4 is a torque current component control circuit that controls the output of t* in a lagging/lead circuit so that the output of Input the wave signal (21) and cosine wave signal (21b) to obtain the excitation voltage component command value (24&J and torque voltage component command value (
29aJ is the primary voltage command value for each of the three phases (301 to (30
This is a coordinate conversion circuit B consisting of a two-phase/three-phase conversion circuit that performs phase conversion.
第４図はｊ＠標変換回路Ａα９の構成を示し、図中、は
加算者、（８９Ｄ）は減算器、（９０Ａ）〜（９０Ｄ）
は乗算器（（９１えば、ＡＮＡｌ、ＯＧ ＤＥＶＩＣＥ
８社、へＤ５３３ンである。FIG. 4 shows the configuration of the j@standard conversion circuit Aα9, in which symbol is an adder, (89D) is a subtracter, and (90A) to (90D)
is a multiplier ((91, for example, ANAl, OG DEVICE
There are 8 companies and 533 companies.
次に動作について説明する。第８図において、三相交流
人力Ｒ，８，Ｔをフンバータ（２）により整流し、平滑
コンデンサ（３）によって平滑された直流電圧が、ＰＷ
Ｍインバータ（５）に印加される。Next, the operation will be explained. In Fig. 8, the three-phase AC human power R, 8, T is rectified by the Humberta (2), and the DC voltage smoothed by the smoothing capacitor (3) is PW
M is applied to the inverter (5).
１’ＷＭインバータ（５）では、−次電圧指令値ｔａｏ
ａ）〜（８０りに従ってスイ９チングを行ない、可変電
圧、可変周波数の交流出力（５ａ）〜（５０）が三相誘
導電動機（６）に印加され、三相誘導電動機（６）は回
転する。In the 1'WM inverter (5), the -th voltage command value tao
a) ~ (Switching is performed according to 80), and variable voltage, variable frequency AC outputs (5a) ~ (50) are applied to the three-phase induction motor (6), and the three-phase induction motor (6) rotates. .
励′Ｊｉ１市流成分信号（１５１及びトルク電流成分信
号（１５’ｂ）と１動機（６）゛の電流帰還信号（１２
ａ） 〜（１４ａ）の間には次の関係がある。Excitation 'Ji1 commercial component signal (151) and torque current component signal (15'b) and current feedback signal (12') of one engine (6)'
The following relationship exists between a) to (14a).
・・・・・・・・・■
ここに、１ｄｓｉ励磁市流成分（１５すｌｑＢトルク電
流成分（１５ｂ、１
１ ｕ ％ ｊ ｗ ｊ電動機−次市流（１２１〜（１
４８）座標変換回路ｈｃ）Ｂはこれを演算するものであ
る。・・・・・・・・・■ Here, 1 dsi excitation commercial current component (15 slqB torque current component (15b, 1 1 u % j w j electric motor - next commercial current component (121 ~ (1
48) Coordinate conversion circuit hc)B is for calculating this.
従来の電動機の制御装置は以上の様に構成されていたの
で、変流器（２）、ａ３．α４にオフセー、ト市圧があ
る場合、電動機−次市流（１２ａＪ〜（１４りは０式で
示される様に直流成分ｊａＯ，ｊマ０ 、 ｊｗｏが重
畳していることになる。■式を０式に代入すると、励磁
電流成分ｊｄｍ（１５り及びトルク電流成分（１５ｂ月
ζは、８次高調波成分のり一１プルが現われ、不安定現
象が発注するという問題点があった。Since the conventional electric motor control device was configured as described above, the current transformer (2), a3. If α4 has an offset and a city pressure, then the electric motor - next city flow (12aJ ~ (14) means that the DC components jaO, jma0, jwo are superimposed as shown in the formula 0. When substituted into the equation 0, the excitation current component jdm (15) and the torque current component (15b) appear as 8th harmonic components, causing an unstable phenomenon.
この発明は、上記のシうな問題点を解消するためになさ
れ１こもので、′変流器のオフセーノト値の範囲及びオ
フセリト値の温度特性が緩和されるので安価な変流器で
も使用可能にすると共に、安定な１ＦＩＥ！１機制御袋
懺を得ることを目的とする。This invention was made to solve the above-mentioned problems, and it makes it possible to use even inexpensive current transformers since the off-set value range and temperature characteristics of the off-set value of the current transformer are relaxed. Along with this, stable 1FIE! The purpose is to obtain a one-machine control bag.
この発明に係る電動機の制御装置は、電動機が一定時間
以上停止している際の電流値を保持し、電動機運転時に
は電流帰還信号より保持している値を減算して電流値と
する様に構成し１こものである。The electric motor control device according to the present invention is configured to hold the current value when the electric motor is stopped for a certain period of time or more, and to subtract the held value from the current feedback signal to obtain the current value when the motor is running. It's one thing.
この発明における電流帰還信号の保持値は、０式におけ
る直流項ｊｕｇ、 ｉｖｏ、 ｉｗａｌ［シ、オフ上り
ト市圧を補正する。The holding value of the current feedback signal in the present invention corrects the DC terms jug, ivo, iwal [shi, off-up market pressure] in equation 0.
以下、この発明の一実施例を図について説明する。第１
図において、（９１ＡＪ〜（９１（３）は、電流帰還信
号の保持回路、（９２ＡＪ〜Ｃ９ＺＯ）は減算器、鎧は
保持回路の制御信号であり、（９４す〜（９４（１）は
前記保持回路軸の保持値である。（９５１〜（９５Ｃ）
は補正電流帰還信号であり、電流帰還値（１２１〜（１
４りより減算器（９２ＡＪ〜（９２０）により保持値（
９４１〜（９４りを減じたものである。An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, (91AJ~(91(3) is a holding circuit for the current feedback signal, (92AJ~C9ZO) is a subtracter, armor is a control signal for the holding circuit, and (94S~(94(1) is the above-mentioned This is the holding value of the holding circuit axis.(951~(95C)
is the corrected current feedback signal, and the current feedback value (121 to (1
The held value (
941~(94 less).
次に上記実施例装置の動作について説明する。Next, the operation of the apparatus of the above embodiment will be explained.
第２図において、保持回路の制御信号−は、停止時に一
定間隔Ｔで１Ｒルベルとなり、保持回路（９１ａ、）
〜（９１Ｃ月よ、前記制御信号０３の′″ＨＨルベル流
帰還信号（１２１〜（１４１をそれぞれサンプリングし
、′Ｌルベル丁、サンプリングされた値を保持する。In FIG. 2, the control signal of the holding circuit becomes 1R level at a constant interval T when stopped, and the holding circuit (91a,)
〜(91C month) Sample the ``HH Lebel flow feedback signal (121~(141) of the control signal 03, respectively, and hold the sampled values for ``L Lebel D''.
時刻ｔ１において保持回路（９１Ａ）は、電流帰還値（
１２ａＪの値ｘ１をサンプリングし、保持する。At time t1, the holding circuit (91A) maintains the current feedback value (
The value x1 of 12aJ is sampled and held.
この時の保持値（９５りはｘｌであり、補正電流帰還値
（９５りは０となる。時刻ｔ２でも時刻ｔ１と同一動作
となる。次に時刻ｔ３で運転を開始したとすると、電流
帰還信号（１２ａＪはｘｌだけオフセっトを持っている
が、保持値（９４りのＸ；が減算され、補正電流帰還信
号（９５＆ ）はオフセーｊトを持たない。The held value at this time (95 is xl, and the corrected current feedback value (95 is 0).The operation at time t2 is the same as at time t1.Next, if operation is started at time t3, the current feedback The signal (12aJ) has an offset of xl, but the holding value (94 x;) is subtracted and the corrected current feedback signal (95&) has no offset j.
運転中は、制御信号鏡が、時刻ｔ４において停止した後
、電流帰還値（１２りは、温度によるオフセ咋トのドリ
フトや、変流器＠のヒステリシス等でＸ！に変化したと
する。During operation, after the control signal mirror stops at time t4, it is assumed that the current feedback value (12) changes to X! due to offset drift due to temperature, hysteresis of the current transformer, etc.
時刻ｔ４より時間Ｔ後、すなわち時刻口において制御信
号−は％ａ′となり、電流帰還信号（１２りの！！が保
持回路（９１Ａ月ζ読み込まれ、補正電流帰還信号（９
５りは０となる。After time T from time t4, that is, at the beginning of time, the control signal - becomes %a', and the current feedback signal (12!!) is read into the holding circuit (91A month ζ), and the corrected current feedback signal (9
5ri becomes 0.
上記説明中の時間Ｔは、電動機電流の時定数より長い値
に設定される。The time T in the above description is set to a value longer than the time constant of the motor current.
なお、上記実施例では、保持回路（９１Ａ）〜（９１Ｃ
）に−回のサンプリング値を使用する様に構成したが、
保持回路を１相につき複数有し、その平均を保持値（９
５す〜（９５りとする様に構成してもよも１゜また、複
数の保持回路の制御信号（至）は、同一タイミングでな
くともよい。さらに、電流帰還信号（１２１〜（１４＆
）をＡ／Ｄ変換し、その数値をマイクロコンピュータ等
で処理し、メモリに保持値を蓄える様に構成してもよい
。In addition, in the above embodiment, the holding circuits (91A) to (91C
) was configured to use − sampling values, but
Each phase has multiple holding circuits, and the average is the holding value (9
The control signals (to) of the plurality of holding circuits may not be at the same timing.Furthermore, the current feedback signals (121 to (14) and
) may be A/D converted, the resulting numerical value may be processed by a microcomputer, etc., and the retained value may be stored in memory.
また、８相分の電流帰還信号を使用してトＩレク市流分
成分（１５ｂ）と、励磁電圧成分信号（１５りを演算し
たが、２相分の電流帰還信号を使用して演算する様に構
成してもよい。In addition, the current feedback signal for 8 phases was used to calculate the current component (15b) and the excitation voltage component signal (15), but it is calculated using the current feedback signal for 2 phases. You can configure it as you like.
まＴこ、三相誘導電動機を用いたペクトｔし制御装置に
ついて示したが、同期電動機や、直流ｗｔ！７機を用い
た制ｗＪ装置に適用してもよい。I have shown a control device using a three-phase induction motor, but it is also possible to use a synchronous motor or a direct current motor! It may be applied to a WJ control device using seven aircraft.
以上のよらに、この発明によれば、電流帰還信号にオフ
セ噌トがあった場合でも、停止後一定期間経過後もオフ
セード調節を可能としたので、変流器のオフセリト及び
温度ドリフトの影響を補正〒きるので、変流器が安価に
構成でき、ｔＴこ、直流分が電流帰還信号に重畳しない
ので、安定性のよい電動機の制御装置が得られる効果が
ある。As described above, according to the present invention, even if there is an offset in the current feedback signal, it is possible to adjust the off-set even after a certain period of time has passed after stopping, thereby eliminating the effects of the off-set and temperature drift of the current transformer. Since the correction is possible, the current transformer can be constructed at low cost, and since the DC component is not superimposed on the current feedback signal, a highly stable motor control device can be obtained.
第１図は、この発明の一実施例による電動機の制御装置
の座標変換回路図、第２図はこの発明のタイミング図、
第８図は従来装置を示す図、第４図は従来の座標変換回
路図を示す。
因において、（５）はＰＷＭインバータ１、（６）は三
相誘導電動機、Ｕ、 Ｑ３．α４１１．を変流器、（至
）は座標変換回路を示す。
なお、図中、同一符号は同一、又は相当部分を示す。
ｃｌ ヴ
ぐ（Ｈｒｎ 寸
第４図
至。
手続補正書（自発］
昭和 年 月 日
２、発明の名称
電動機の制御装置
３、補正をする者
代表者志岐守哉
４、代理人
ｉ補正の対象
（１）明細書の発明の詳細な説明の欄
６、 補正の内容
（１）明細書中“、第４頁第１Ｔ行目に「加算者」とあ
るのを「加算器」と訂正する。
（２） 同書中、第６頁にある０式を次の通シ訂正す
る。
以上FIG. 1 is a coordinate conversion circuit diagram of a motor control device according to an embodiment of the present invention, and FIG. 2 is a timing diagram of the present invention.
FIG. 8 shows a conventional device, and FIG. 4 shows a conventional coordinate conversion circuit diagram. In the above, (5) is the PWM inverter 1, (6) is the three-phase induction motor, U, Q3. α411. is a current transformer, and (to) is a coordinate conversion circuit. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. cl v
(Hrn, figure 4) Procedural amendment (spontaneous) Showa year, month, day 2, Title of invention: Control device for electric motor 3, Representative of the person making the amendment: Moriya Shiki 4, Agent i Subject of amendment (1) Column 6 of Detailed Description of the Invention in the Specification, Contents of the Amendment (1) In the specification, "adder" in the 1st line of page 4, line 1, is corrected to read "adder." (2) In the same book, formula 0 on page 6 is corrected as follows.
Claims (2)
ンバータ装置によって駆動される電動機と前記電動機の
電流を検出する変流器を有する電動機の制御装置におい
て、前記インバータ装置が一定時間以上非動作時に前記
変流器の出力値を保持し、運転時には変流器の出力値か
ら前記保持された変流器の出力値を減算した値を電流値
とする手段を具備することを特徴とする電動機の制御装
置。(1) In a motor control device having an inverter device that converts direct current to alternating current, a motor driven by the inverter device, and a current transformer that detects the current of the motor, when the inverter device is inactive for a certain period of time or more, An electric motor characterized in that it is equipped with a means for holding an output value of the current transformer and, during operation, setting a value obtained by subtracting the held output value of the current transformer from the output value of the current transformer as a current value. Control device.
を使用することを特徴とする特許請求の範囲第１項記載
の電動機の制御装置。(2) The electric motor control device according to claim 1, wherein an average value of a certain number of times is used as the output value of the current transformer to be held.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62107131A JPS63274390A (en) | 1987-04-30 | 1987-04-30 | Controller for motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62107131A JPS63274390A (en) | 1987-04-30 | 1987-04-30 | Controller for motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63274390A true JPS63274390A (en) | 1988-11-11 |
Family
ID=14451289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62107131A Pending JPS63274390A (en) | 1987-04-30 | 1987-04-30 | Controller for motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63274390A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0583991A (en) * | 1991-09-20 | 1993-04-02 | Mitsubishi Electric Corp | Elevator controller |
| WO2000014866A1 (en) * | 1998-09-03 | 2000-03-16 | Mitsubishi Denki Kabushiki Kaisha | Controller for ac motor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6023268A (en) * | 1983-07-18 | 1985-02-05 | 三菱電機株式会社 | Speed controller for elevator |
-
1987
- 1987-04-30 JP JP62107131A patent/JPS63274390A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6023268A (en) * | 1983-07-18 | 1985-02-05 | 三菱電機株式会社 | Speed controller for elevator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0583991A (en) * | 1991-09-20 | 1993-04-02 | Mitsubishi Electric Corp | Elevator controller |
| WO2000014866A1 (en) * | 1998-09-03 | 2000-03-16 | Mitsubishi Denki Kabushiki Kaisha | Controller for ac motor |
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