TWI420799B - Control system of three - phase AC induction motor driver and its field weakening control method - Google Patents
Control system of three - phase AC induction motor driver and its field weakening control method Download PDFInfo
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本發明係關於一種三相交流感應馬達驅動器之控制系統及其弱磁控制方法，特別是指一種應用於額定轉速以上具有弱磁控制之三相交流感應馬達驅動器。The invention relates to a control system of a three-phase AC induction motor driver and a weak magnetic control method thereof, in particular to a three-phase AC induction motor driver with weak magnetic control above a rated speed.
習用之三相交流感應馬達驅動裝置，主要是藉由產生位在q-軸座標上之定子電流，並由其所產生的磁通與d-軸座標上之三相交流感應馬達轉子磁通交互作用，藉此達到三相交流感應馬達之向量控制；而三相交流感應馬達所產生之反電動勢與轉速成正比，當轉速上升而直流鏈電容所提供的電壓不足以克服三相交流感應馬達所產生的反電動勢時，就會造成三相交流感應馬達在高速運轉的範圍上有所限制，因此若要使三相交流感應馬達操作在更高的速度，一般而言，驅動器會調整d-軸電流來降低轉子磁通，藉此克服高速下所產生的反電動勢並可提升操作速度範圍，此方法也就是一般所稱的弱磁控制；然而習知的弱磁控制法則(向量控制變頻器控制器參數自動調適法，中華民國專利第84113378號)係根據轉速的數據來產生一反比於d-軸轉子磁通或電流值的命令，但在此習知技術下，並未考量驅動器輸出電壓是否達到最大以及馬達額定電流的限制條件，故未能夠保證有效達到最大直流鏈電壓之利用率及最大的輸出轉矩；另外亦有習知的弱磁控制法則(感應電動之控制方法，中華民國專利第94120978號)利用計算反電動勢的大小來判斷馬達轉速是否超過額定轉 速並藉此來進行弱磁控制，但在此習知技術下欲進行弱磁控制則需要繁複的數學式運算，且在此習知技術下所運算之數學式會受到馬達參數變化的影響，故習知的弱磁制控法則(感應電動之控制方法，中華民國專利第94120978號)無法達到最大的輸出轉矩；再者，以往習知技術中皆無考量到三相交流感應馬達在最大滑差速度下有最大脫出轉矩之限制條件，故亦無法在弱磁區間下考量到進入到更高速之第二弱磁區的判斷與操作。The conventional three-phase AC induction motor drive device mainly generates the stator current on the q-axis coordinate, and the magnetic flux generated by the three-phase AC induction motor rotor flux interacts with the d-axis coordinate. The function is to achieve the vector control of the three-phase AC induction motor; and the back electromotive force generated by the three-phase AC induction motor is proportional to the rotational speed. When the rotational speed rises, the voltage supplied by the DC link capacitor is insufficient to overcome the three-phase AC induction motor. When the back electromotive force is generated, the three-phase AC induction motor has a limitation on the range of high-speed operation. Therefore, if the three-phase AC induction motor is operated at a higher speed, generally, the driver will adjust the d-axis. The current is used to reduce the rotor flux, thereby overcoming the back electromotive force generated at high speeds and increasing the operating speed range. This method is also known as field weakening control; however, the known field weakening control law (vector control inverter control) Automatic parameter adjustment method, Republic of China Patent No. 84113378) is based on the data of the rotational speed to generate a command inversely proportional to the d-axis rotor flux or current value, but Under the prior art, the maximum output voltage of the driver and the limitation condition of the rated current of the motor are not considered, so that the utilization of the maximum DC link voltage and the maximum output torque are not guaranteed to be effectively achieved; The law of magnetic control (control method of induction electric motor, Republic of China Patent No. 94120978) uses the magnitude of the calculated back electromotive force to judge whether the motor speed exceeds the rated rotation. The weak magnetic control is performed by this speed, but in this prior art, the weak magnetic control is required to perform complicated mathematical operations, and the mathematical formula calculated under the prior art is affected by the change of the motor parameters. Therefore, the well-known weak magnetic control law (inductive electric control method, Republic of China Patent No. 94120978) cannot achieve the maximum output torque; in addition, the conventional technology does not consider the three-phase AC induction motor at the maximum slip. There is a limit condition for the maximum escape torque at the differential speed, so it is impossible to consider the judgment and operation of entering the second weak field of the higher speed in the weak magnetic interval.
由此可見，上述習用方式仍有諸多缺失，實非一良善之設計，而亟待加以改良。It can be seen that there are still many shortcomings in the above-mentioned methods of use, which is not a good design, but needs to be improved.
本案發明人鑑於上述習用之方法所衍生的各項缺點，乃亟思加以改良創新，並經多年苦心孤詣潛心研究後，終於成功來完成本件三相交流感應馬達驅動器之控制系統及其弱磁控制方法。In view of the shortcomings derived from the above-mentioned methods, the inventor of the present invention has improved and innovated, and after years of painstaking research, he finally succeeded in completing the control system of the three-phase AC induction motor driver and its weak magnetic control method. .
本發明之目的即在於提供一種三相交流感應馬達驅動器之控制系統及其弱磁控制方法，係為了能達到最大直流鏈電壓之利用率，使得三相交流感應馬達在超過額定轉速時，可自動偵判該馬達為進入第一弱磁區或者是更高速下的第二弱磁區。The object of the present invention is to provide a control system for a three-phase AC induction motor driver and a weak magnetic control method thereof, which can automatically achieve the utilization of the maximum DC link voltage, so that the three-phase AC induction motor can automatically exceed the rated speed. The motor is detected as entering the first weak magnetic zone or the second weak magnetic zone at a higher speed.
本發明之次要目的即在於提供一種三相交流感應馬達驅動器之控制系統及其弱磁控制方法，係為了可應用於不同弱磁區間之不同轉速運轉情況下，並可提供具有較大的輸出轉矩能力，以解決習知技術中所存在的技術課題與潛在缺點。A secondary object of the present invention is to provide a control system for a three-phase AC induction motor driver and a field weakening control method thereof, which can be applied to different speeds of different weak magnetic sections and can provide a large output. Torque capability to solve technical problems and potential shortcomings in the prior art.
達成上述發明目的之三相交流感應馬達驅動器之控制系統及其弱磁控制方法，其中該控制系統係包括了一驅動器控制模組、一弱磁控制模組、 一交流電源、一電力迴路模組、一電流感測模組及一交流馬達模組，本發明係利用交流馬達變頻器脈波寬度調變控制之切換週期及其變頻器控制，分析取得有效切換時間和之差值，並經由弱磁控制模組(由變頻器控制分析所得之有效切換時間和(TA +TB )之差值)即時產生調適的磁化電流命令(d-軸電流命令之修正值)，以達到有效擴增直流鏈電壓之利用率，並可以自動調適d-軸電流值來達到弱磁控制，使得交流馬達模組在超過額定轉速時，於不同弱磁區間之不同轉速運轉情況下，具有較大的輸出轉矩能力；而本發明亦使用一種利用空間向量調變法則(有效電壓向量之有效切換時間TA 、TB )，來分析是否利用到較大的直流鏈電容電壓，而當TA +TB =TZ ，其中該TZ 等於脈波寬度調變控制的切換週期(用於達到擴增直流鏈電容電壓利用率的參考命令)，並代表目前直流鏈電容的電壓利用率比空間向量調變法則操作在線性區為大；另外若馬達在此情況下還要繼續提升轉速，除了要持續符合TA +TB =TZ 條件外，還必須使用弱磁控制的技術才能達成；此外，當TA +TB =TZ 時的電壓向量值會大於最大線性區之電壓向量值時，則代表變頻器輸出電壓空間向量軌跡會操作在最大極限的六邊形，故當定子電流值在額定電流的限制下，則代表三相交流感應馬達操作在最大電壓及最大電流之條件下工作，而此即為三相交流感應馬達操作在第一弱磁區下所擁有之最大輸出轉矩之條件；而當轉速繼續提高，且三相交流感應馬達之滑差速度達到該馬達之最大滑差速度時，此即代表三相交流感應馬達操作在第二弱磁區，若是馬達 操作在最大電壓以及符合最大滑差速度下所得到之最大電流時，此即為三相交流感應馬達操作在第二弱磁區下所擁有之最大輸出轉矩之狀況。A control system for a three-phase AC induction motor driver and a weak magnetic control method thereof, wherein the control system comprises a driver control module, a weak magnetic control module, an AC power supply, and a power loop module , a current sensing module and an AC motor module, the invention utilizes the switching period of the pulse width modulation control of the AC motor frequency converter and its inverter control, analyzes and obtains the effective switching time and the difference, and is weak The magnetic control module (the difference between the effective switching time and the (T A + T B ) obtained by the inverter control analysis) instantly generates an adapted magnetizing current command (corrected value of the d-axis current command) to achieve effective amplification. The utilization of the DC link voltage, and the d-axis current value can be automatically adjusted to achieve the weak magnetic control, so that the AC motor module has a larger output when the rated motor speed exceeds the rated speed and operates at different rotational speeds in different weak magnetic fields. torque capacity; the use of the present invention is also the use of a space vector modulation rule (the effective switching time of the effective voltage vector T a, T B), to analyze whether the use of the large linear Link capacitor voltage, and when T A + T B = T Z , which is equal to the switching period T Z pulse width modulation control (command for achieving the amplification efficiency of the DC link capacitor voltage), and represents the current DC The voltage utilization of the chain capacitor is larger than that of the space vector modulation method in the linear region; in addition, if the motor continues to increase the speed in this case, in addition to continuing to meet the T A + T B = T Z condition, it must be used. The technique of field weakening control can be achieved; in addition, when the voltage vector value of T A + T B = T Z is greater than the voltage vector value of the maximum linear region, it means that the inverter output voltage space vector trajectory will operate at the maximum limit. Hexagonal, so when the stator current value is limited by the rated current, it means that the three-phase AC induction motor operates under the conditions of maximum voltage and maximum current, and this is the three-phase AC induction motor operating at the first weakening The condition of the maximum output torque under the zone; and when the speed continues to increase and the slip speed of the three-phase AC induction motor reaches the maximum slip speed of the motor, this represents a three-phase AC induction motor In the second weak magnetic zone, if the motor is operated at the maximum voltage and the maximum current obtained under the maximum slip speed, this is the maximum output turn of the three-phase AC induction motor operating under the second weak magnetic zone. The condition of the moment.
請參閱圖一A及圖一B，為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之架構圖及電路示意圖，其中係包含：一驅動器控制模組1，係與弱磁控制模組2、電力迴路模組4、電流感測模組5及交流馬達模組6相介接，而該驅動器控制模組1係包括了加法器1011,1012,1013、減法器1021,1022,1023、d-軸電流控制器103、轉速控制器104、q-軸電流控制器105、限制器106、電壓解耦補償器107、座標轉換器1081,1082、空間向量調變器109、轉子速度估測器110、計數器111、滑差速度估測器112、積分器113，該驅動器控制模組1係利用編碼器602來獲得三相交流感應馬達位置相關資訊；一弱磁控制模組2，係與驅動器控制模組1相介接，而該弱磁控制模組2係包括：(1)限制器201，以限制磁通電流命令之修正值落在負值區間及限制三相交流感應馬達d-軸轉子磁通量或d-軸電流不會小於零或接近於零的值；(2)弱磁電流控制器202，用以產生磁通電流命令之修正值；(3)減法器203，用以將脈波寬度調變控制的切換週期TZ 減去經由濾波後之有效切換時間和(TA +TB )；(4)低通濾波器204，用以濾除有效切換時間和(TA +TB )的高頻訊號； (5)加法器2051,2052，該加法器2051係用以將空間向量調變法則中之各有效電壓向量的有效切換時間(TA 、TB )相加；而加法器2052係將d-軸額定電流值與d-軸電流命令之修正值i ds _fw 相加，並作為一真正的d-軸電流命令參考值；(6)最大q-軸電流命令計算器206，分析計算所使用之最大q-軸電流命令值。Please refer to FIG. 1A and FIG. 1B. FIG. 1 is a structural diagram and a circuit diagram of a control system for a three-phase AC induction motor driver and a weak magnetic control method thereof. The system includes: a driver control module 1 and a weak magnetic field. The control module 2, the power circuit module 4, the current sensing module 5 and the AC motor module 6 are connected, and the driver control module 1 includes adders 1011, 1012, 1013, subtractors 1021, 1022. 1023, d-axis current controller 103, speed controller 104, q-axis current controller 105, limiter 106, voltage decoupling compensator 107, coordinate converters 1081, 1082, space vector modulator 109, rotor The speed estimator 110, the counter 111, the slip speed estimator 112, and the integrator 113, the driver control module 1 uses the encoder 602 to obtain the position information of the three-phase AC induction motor; and the field weakening control module 2 And the drive control module 1 is connected, and the field weakening control module 2 includes: (1) a limiter 201 to limit the correction value of the magnetic flux current command to a negative value range and limit three-phase AC induction Motor d-axis rotor flux or d-axis current will not be less than zero A value close to zero; (2) weakening current controller 202 for generating a correction value of the magnetic flux current command; (3) a subtractor 203, to the pulse width modulation control of the switching period T Z subtracts The filtered effective switching time sum (T A + T B ); (4) a low pass filter 204 for filtering out the effective switching time and the high frequency signal of (T A + T B ); (5) Adder 2051, 2052, the adder 2051 is used to add the effective switching times (T A , T B ) of the effective voltage vectors in the space vector modulation law; and the adder 2052 is to set the d-axis rated current value. Adds the correction value i ds _ fw of the d-axis current command and serves as a true d-axis current command reference value. (6) The maximum q-axis current command calculator 206 analyzes and calculates the maximum q-axis current command value used.
而該弱磁控制模組2係將空間向量調變器109之有效電壓向量的有效切換時間和(TA +TB )，經過低通濾波器204將其高頻訊號濾除後，並透過減法器203與脈波寬度調變控制的切換週期TZ 並做相減比較，再藉由該弱磁電流控制器202來做調整，另外並配合限制器201用以確保當TA +TB =TZ 時，該限制器201之輸出為一負值i ds _fw ，以作為d-軸電流命令之修正值(限制d-軸電流不會因弱磁電流控制器之調整而使得轉子磁通小於零或接近於零)；而該限制器201之輸出再經由加法器2052與d-軸額定電流值相加，作為一真正的d-軸電流命令參考值；一交流電源3，係與電力迴路模組4相介接，係為一輸入電源；一電力迴路模組4，係與驅動器控制模組1、交流電源3、電流感測模組5及交流馬達模組6相介接，而該電力迴路模組4係包括整流模組401(可接受單相或三相市電電源之輸入)、直流鏈電容402(作為變頻模組輸入之用)及變頻模組403(包含可提供三相脈波電壓輸出之開關元件並連結到三相交流感應馬達之輸入側，透過驅動器控制模組1則可產生驅動信號控制變頻模組中開關元件之切換)，因此當市電端的能量由交流電源3開始輸入，經過整流模組401將交流電整流成具有漣波之直流電，再藉由直流 鏈電容402進行濾波，並利用空間向量調變器109輸出控制訊號至變頻模組403中驅動開關元件做直流電能量的轉換；一電流感測模組5，係包括了三個電流感測器501,502,503，而該電流感測模組5與驅動器控制模組1電力迴路模組4及交流馬達模組6相介接，主要負責回授馬達之三相電流iu 、iv 及iw ；一交流馬達模組6，係與驅動器控制模組1、電力迴路模組4、電流感測模組5相介接，其中該交流馬達模組6係包括三相交流感應馬達601及編碼器602(耦接在相同轉軸上)，其中該編碼器602可為增量型編碼器，驅動器控制模組1則根據編碼器602所回授之轉子位置及/或速度，經由轉速控制器104產生位在q-軸座標上之定子電流，其所建立的磁通與d-軸座標上之三相交流感應馬達轉子磁通交互作用，藉此達到三相交流感應馬達之向量控制；該驅動器控制模組1透過計數器111則可將編碼器602之脈波資訊轉換成交流馬達之轉子角度，該轉子角度透過轉子速度估測器110可獲得馬達之速度，因此該馬達轉速亦作為轉速控制器104回授資訊之用，而得到馬達轉子速度藉由加法器1013加上該滑差速度(滑差速度估測器112使用d-軸電流、q-軸電流所分析之滑差速度，而該d-軸電流值是受到弱磁控制架構所決定的，最大電流限制條件則是由不同弱磁區間下之不同q-軸電流限制值來決定)，再透過積分器113可得到同步旋轉角度；而該同步旋轉角度可做為座標轉換器1081,1082之座標轉換使用，當電流感測器501,502,503回授馬達之三相電流iu 、iv 及iw ，並透過座標轉換器1082將三相靜止座標之變數轉換成兩相同步旋轉座標之變數及，並 回授到減法器1021,1023與電流命令相減，而後經由d-軸電流控制器103及q-軸電流控制器105進行調整，而該兩個電流控制器(d-軸電流控制器103及q-軸電流控制器105)之輸出加上電壓解耦補償器107之補償值(透過加法器1011,1012)，再由座標轉換器1081將兩相同步旋轉座標之變數及轉換成兩相靜止座標之變數以獲得空間向量調變器109的電壓空間向量命令；而在完整的速度模式下，三相交流感應馬達之轉速ω r 與轉速命令經由減法器1022並透過轉速控制器104做調整，而該轉速控制器104的輸出則連結到限制器106，可做為q-軸電流命令及輸出轉矩的限制，關於該限制器之限制值可由最大q-軸電流命令計算器206來計算得到，除了避免驅動器或馬達操作在額定電流以上，也可以根據不同弱磁區間下的情況來限制最大電流值。The field weakening control module 2 filters the effective switching time of the effective voltage vector of the space vector modulator 109 and (T A + T B ), and filters the high frequency signal through the low pass filter 204. The subtracter 203 performs a subtraction comparison with the switching period T Z of the pulse width modulation control, and then performs adjustment by the field weakening current controller 202, and cooperates with the limiter 201 to ensure that when T A + T B When =T Z , the output of the limiter 201 is a negative value i ds _ fw as a correction value of the d-axis current command (the d-axis current is not limited by the adjustment of the field weakening current controller to make the rotor magnetic Passing less than zero or close to zero); and the output of the limiter 201 is again via the adder 2052 and the d-axis rated current value Add as a true d-axis current command reference An AC power source 3 is connected to the power circuit module 4 and is an input power source; a power circuit module 4 is connected to the driver control module 1, the AC power source 3, the current sensing module 5, and the AC The motor module 6 is connected, and the power circuit module 4 includes a rectifier module 401 (acceptable input of single-phase or three-phase mains power), a DC link capacitor 402 (for input of the frequency conversion module), and frequency conversion The module 403 includes a switching element capable of providing a three-phase pulse voltage output and is coupled to an input side of the three-phase AC induction motor, and a driving signal is controlled by the driver control module 1 to control switching of the switching element in the variable frequency module. Therefore, when the energy of the mains terminal is input by the AC power source 3, the AC power is rectified into a DC power with chopping through the rectifying module 401, and then filtered by the DC link capacitor 402, and the control signal is output to the frequency conversion by the space vector modulator 109. The module 403 drives the switching component to convert the DC energy; the current sensing module 5 includes three current sensors 501, 502, 503, and the current sensing module 5 and the driver control module 1 are powered back. Module 4 and the AC motor 6 with interfacing modules, responsible for the feedback of the motor phase currents i u, i v and i w; a module AC motor 6, the drive system and the control module 1, the power circuit module 4, the current sensing module 5 is connected, wherein the AC motor module 6 comprises a three-phase AC induction motor 601 and an encoder 602 (coupled on the same rotating shaft), wherein the encoder 602 can be incremental The encoder, the driver control module 1 generates the stator current on the q-axis coordinate via the speed controller 104 according to the rotor position and/or speed fed back by the encoder 602, and the established magnetic flux and d- The three-phase AC induction motor rotor magnetic flux interaction on the shaft coordinates realizes the vector control of the three-phase AC induction motor; the driver control module 1 can convert the pulse wave information of the encoder 602 into an AC motor through the counter 111. The rotor angle, the rotor angle is obtained by the rotor speed estimator 110 to obtain the speed of the motor. Therefore, the motor speed is also used as feedback information by the speed controller 104, and the motor rotor speed is obtained by the adder 1013. Differential speed The estimator 112 uses the slip speed analyzed by the d-axis current and the q-axis current, and the d-axis current value is determined by the field weakening control architecture, and the maximum current limiting condition is determined by the different weak magnetic interval. The different q-axis current limit value is determined), and then the integrator 113 can obtain the synchronous rotation angle; and the synchronous rotation angle can be used as the coordinate conversion of the coordinate converters 1081 and 1082, when the current sensors 501, 502, 503 are returned. Transmitting the three-phase currents i u , i v and i w of the motor and converting the variables of the three-phase stationary coordinates into the variables of the two-phase synchronous rotating coordinates through the coordinate converter 1082 and And the subtractor 1021, 1023 is subtracted from the current command, and then adjusted by the d-axis current controller 103 and the q-axis current controller 105, and the two current controllers (d-axis current controller) The output of the 103 and q-axis current controller 105) plus the compensation value of the voltage decoupling compensator 107 (transmitted through the adders 1011, 1012), and then the coordinates of the two-phase synchronous rotating coordinates by the coordinate converter 1081 and Converting to a variable of a two-phase stationary coordinate to obtain a voltage space vector command of the space vector modulator 109; and in a full speed mode, a rotational speed ω r of the three-phase AC induction motor and a rotational speed command The adjustment is made via the subtractor 1022 and through the speed controller 104, and the output of the speed controller 104 is coupled to the limiter 106, which can be used as a limit for the q-axis current command and the output torque, with respect to the limit value of the limiter. It can be calculated by the maximum q-axis current command calculator 206. In addition to avoiding the driver or motor operating above the rated current, the maximum current value can also be limited according to the conditions under different weak magnetic conditions.
請參閱圖二A、圖二B及圖二C，為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之空間向量調變的電壓空間向量圖、電壓向量合成圖及脈波形式圖，其中圖二A係表示了電壓空間向量命令與區間(Sector)的關係，其關係為空間向量調變法則之電壓向量所組成之最大限制範圍與最大線性範圍，而當TA +TB =TZ 時，則代表電壓向量目前是在最大限制範圍的六角形軌跡上旋轉，因此電壓利用率較最大線性範圍之圓形區間為大；而圖二B則是表示電壓空間向量位在第一區間(Sector 1)之示意圖；另外對照圖二B所合成電壓向量之開關切換時序與TA 、TB 、TZ 示意圖，其中TA 及TB 分別為有效切換時間，TZ 則為脈波寬度調變控制的切換週期， 而該TZ =1/(KTs )，其中Ts 為脈波寬度調變控制的取樣週期，K為常數。Please refer to FIG. 2A, FIG. 2B and FIG. 2C, which are the voltage space vector diagram, the voltage vector synthesis diagram and the pulse wave of the space vector modulation of the control system of the three-phase AC induction motor driver and the weak magnetic control method thereof. The formal diagram, in which Figure 2A shows the relationship between the voltage space vector command and the sector, the relationship is the maximum limit range and the maximum linear range of the voltage vector of the space vector modulation law, and when T A +T When B = T Z , it means that the voltage vector is currently rotating on the hexagonal trajectory of the maximum limit range, so the voltage utilization is larger than the circular interval of the maximum linear range; and Figure 2B shows that the voltage space vector is at Schematic diagram of the first interval (Sector 1); additionally, the switching timing of the voltage vector synthesized in Fig. 2B and the schematic diagrams of T A , T B , and T Z , wherein T A and T B are effective switching times, respectively, and T Z is The switching period of the pulse width modulation control, and T Z =1/(KT s ), where T s is the sampling period of the pulse width modulation control, and K is a constant.
請參閱圖三，為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之弱磁控制方法流程圖，其步驟為：1.利用有效電壓向量的有效切換時間和(TA +TB )，經過低通濾波器將其高頻訊號濾除後，與脈波寬度調變控制的切換週期TZ 相減；2.再透過一弱磁電流控制器產生d-軸電流命令之修正值並限制其值；3.此一具有限制之d-軸電流命令修正值(藉由限制器確保當TA +TB =TZ 時，限制器之輸出為一負值i ds _fw ，來作為d-軸電流命令之修正值，並限制d-軸電流不會因弱磁電流控制器之調整而使得轉子磁通小於零或接近於零)再與原始d-軸電流命令經由加法器相加，以作為一真正的d-軸電流命令參考值；4.利用此一d-軸電流命令值與最大滑差速度ω sl_MAX 來限制不同弱磁區間下之最大q-軸電流命令值(最大q-軸電流命令值之計算在不同弱磁區間下也有所不同)。Please refer to FIG. 3 , which is a flow chart of the control system of the three-phase AC induction motor driver and the field weakening control method thereof. The steps are as follows: 1. Using the effective switching time of the effective voltage vector and (T A + T B ), after filtering the high frequency signal through the low pass filter, subtracting from the switching period T Z of the pulse width modulation control; 2. generating a d-axis current command through a weak magnetic current controller Correct the value and limit its value; 3. This has a limited d-axis current command correction value (by the limiter to ensure that when T A + T B = T Z , the output of the limiter is a negative value i ds _ fw , as the correction value of the d-axis current command, and limit the d-axis current not to be adjusted by the field weakening current controller so that the rotor flux is less than zero or close to zero) and then the original d-axis current command Add by adder as a true d-axis current command reference ; 4. Use this d-axis current command value The maximum q-axis current command value under different weak field conditions is limited with the maximum slip speed ω sl_MAX (the calculation of the maximum q-axis current command value is also different under different weak field conditions).
請參閱圖四，為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之最大q-軸電流命令計算器之實施流程圖，其步驟為：1.首先判斷有效電壓向量的有效切換時間和(TA +TB )是否大於或等於脈波寬度調變控制的切換週期(TZ )，其判斷分析如下：(1)若TA +TB 大於或等於TZ ，則進入馬達轉速高於額定轉速之狀態；(2)若TA +TB 小於TZ ，則進入馬達轉速低於額定轉速之狀態(此時馬達操作在定轉矩區間，且最大q-軸電流命令值由馬達之 額定電流決定，其值等於)；2.當馬達轉速高於額定轉速之狀態時，首先分析最大q-軸電流命令值(由馬達額定電流來分析取得)為，再來分析最大q-軸電流命令值(由最大滑差速度來分析取得)；3.接著判斷在弱磁區間下利用不同條件所算出之q-軸電流命令值：(1)若大於或等於，則代表目前q-軸電流命令之限制值由最大滑差速度來決定(代表馬達操作在第二弱磁區下，故最大q-軸電流命令值為)；(2)若小於，則表示q-軸電流命令之限制值由額定電流來決定(代表馬達操作仍操作在第一弱磁區下，故最大q-軸電流命令值為)。Please refer to FIG. 4 , which is a flowchart of the implementation of the control system of the three-phase AC induction motor driver and the maximum q-axis current command calculator of the field weakening control method thereof. The steps are as follows: 1. Firstly, the effective voltage vector is determined to be effective. Whether the switching time sum (T A + T B ) is greater than or equal to the switching period (T Z ) of the pulse width modulation control, the judgment analysis is as follows: (1) If T A + T B is greater than or equal to T Z , then enter The motor speed is higher than the rated speed; (2) If T A + T B is less than T Z , the motor speed is lower than the rated speed (the motor is operated in the constant torque range and the maximum q-axis current command) The value is determined by the rated current of the motor and its value is equal to 2. When the motor speed is higher than the rated speed, first analyze the maximum q-axis current command value (obtained by the motor rated current) , then analyze the maximum q-axis current command value (Analyzed by the maximum slip speed); 3. Next, judge the q-axis current command value calculated by using different conditions in the weak magnetic interval: (1) greater than or equal to , which means that the current q-axis current command limit value is determined by the maximum slip speed (representing the motor operation under the second weak magnetic zone, so the maximum q-axis current command value is ); (2) if Less than , indicating that the limit value of the q-axis current command is determined by the rated current (representing that the motor operation is still operating under the first weak magnetic zone, so the maximum q-axis current command value is ).
請參閱圖五，為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之模擬結果示意圖，當三相交流感應馬達轉子速度達額定轉速(1.0pu)以上時，此時TA +TB 增加至為TZ (1.0pu)時，弱磁控制就會開始進行，也就是進入第一弱磁區的開始；由圖中可知，d-軸電流命令之修正值i ds _fw 開始隨速度上升而往負值增加，而d-軸電流則隨速度上升而開始下降，藉以維持直流鏈電容之較大電壓利用率並可克服交流馬達反電動勢的增加，而當轉速趨於穩定後，反電動勢也不再變化，故d-軸電流也會隨之穩定；另外當轉速持續上升的同時，最大q-軸電流之限制值亦受到最大滑差速度的限制，從圖中觀察滑差速度可發覺馬達在加速的過程中有一段響應是被最大滑差速度所限制住的，代表此時馬達運轉是進入到第二弱磁區， 且此時馬達轉速是進入更高速的狀態下。Please refer to FIG. 5 , which is a schematic diagram of the simulation result of the control system of the three-phase AC induction motor driver and the weak magnetic control method thereof. When the rotor speed of the three-phase AC induction motor reaches the rated speed (1.0 pu) or more, the T A at this time When +T B is increased to T Z (1.0 pu), the field weakening control will start, that is, the beginning of the first weak magnetic zone; as shown in the figure, the correction value of the d-axis current command i ds _ fw Starts as the speed rises and increases to a negative value, while the d-axis current Then, as the speed rises, it begins to decrease, thereby maintaining the large voltage utilization of the DC link capacitor and overcoming the increase of the back electromotive force of the AC motor. When the rotational speed tends to be stable, the back electromotive force does not change any more, so the d-axis current It will also be stable; in addition, while the speed continues to rise, the limit value of the maximum q-axis current is also limited by the maximum slip speed. Observing the slip speed from the figure, it can be seen that the motor has a response during the acceleration process. Restricted by the maximum slip speed, it means that the motor is running to the second weak magnetic zone, and the motor speed is entering a higher speed state.
本發明所提供之三相交流感應馬達驅動器之控制系統及其弱磁控制方法，與其他習用技術相互比較時，更具備下列優點：The control system of the three-phase AC induction motor driver and the weak magnetic control method thereof provided by the invention have the following advantages when compared with other conventional technologies:
1.本發明之三相交流感應馬達驅動器之控制系統及其弱磁控制方法，係經由弱磁控制模組即時產生調適磁化電流命令，達到有效擴增直流鏈電壓之利用率，使得三相交流感應馬達在超過額定轉速時，可自動判斷該馬達為進入第一弱磁區或者是更高速下的第二弱磁區。1. The control system of the three-phase AC induction motor driver of the present invention and the weak magnetic control method thereof, the instant application of the adaptive magnetization current command through the weak magnetic control module, thereby effectively utilizing the utilization rate of the DC link voltage, so that the three-phase communication When the induction motor exceeds the rated speed, the motor can be automatically judged to enter the first weak magnetic zone or the second weak magnetic zone at a higher speed.
2.本發明之三相交流感應馬達驅動器之控制系統及其弱磁控制方法，係可以在不同弱磁區間之不同轉速運轉情況下，提供具有較大的輸出轉矩能力，可藉以解決習知技術中所存在的技術課題與潛在缺點。2. The control system of the three-phase AC induction motor driver of the present invention and the weak magnetic control method thereof can provide a large output torque capability under different rotation speeds of different weak magnetic sections, thereby solving the conventional knowledge. Technical issues and potential shortcomings in technology.
上列詳細說明係針對本發明之一可行實施例之具體說明，惟該實施例並非用以限制本發明之專利範圍，凡未脫離本發明技藝精神所為之等效實施或變更，均應包含於本案之專利範圍中。The detailed description of the preferred embodiments of the present invention is intended to be limited to the scope of the invention, and is not intended to limit the scope of the invention. The patent scope of this case.
綜上所述，本案不但在技術思想上確屬創新，並能較習用物品增進上述多項功效，應以充分符合新穎性及進步性之法定發明專利要件，爰依法提出申請，懇請 貴局核准本件發明專利申請案，以勵發明，至感德便。To sum up, this case is not only innovative in terms of technical thinking, but also able to enhance the above-mentioned multiple functions compared with conventional articles. It should be submitted in accordance with the law in accordance with the statutory invention patents that fully meet the novelty and progressiveness, and you are requested to approve this article. Invention patent application, in order to invent invention, to the sense of virtue.
1‧‧‧驅動器控制模組1‧‧‧Drive Control Module
1011‧‧‧加法器1011‧‧‧Adder
1012‧‧‧加法器1012‧‧‧Adder
1013‧‧‧加法器1013‧‧‧Adder
1021‧‧‧減法器1021‧‧‧Subtractor
1022‧‧‧減法器1022‧‧‧Subtractor
1023‧‧‧減法器1023‧‧‧Subtractor
103‧‧‧d-軸電流控制器103‧‧‧d-axis current controller
104‧‧‧轉速控制器104‧‧‧Speed Controller
105‧‧‧q-軸電流控制器105‧‧‧q-axis current controller
106‧‧‧限制器106‧‧‧Restrictor
107‧‧‧電壓解耦補償器107‧‧‧Voltage decoupling compensator
1081‧‧‧座標轉換器1081‧‧‧Coordinate Converter
1082‧‧‧座標轉換器1082‧‧‧Coordinate Converter
109‧‧‧空間向量調變器109‧‧‧Space Vector Modulator
110‧‧‧轉子速度估測器110‧‧‧Rotor speed estimator
111‧‧‧計數器111‧‧‧ counter
112‧‧‧滑差速度估測器112‧‧‧Slip speed estimator
113‧‧‧積分器113‧‧‧ integrator
2‧‧‧弱磁控制模組2‧‧‧Weak magnetic control module
201‧‧‧限制器201‧‧‧Restrictor
202‧‧‧弱磁電流控制器202‧‧‧ weak magnetic current controller
203‧‧‧減法器203‧‧‧Subtractor
204‧‧‧低通濾波器204‧‧‧low pass filter
2051‧‧‧加法器2051‧‧‧Adder
2052‧‧‧加法器2052‧‧‧Adder
206‧‧‧最大q-軸電流命令計算器206‧‧‧Maximum q-axis current command calculator
3‧‧‧交流電源3‧‧‧AC power supply
4‧‧‧電力迴路模組4‧‧‧Power loop module
401‧‧‧整流模組401‧‧‧Rectifier Module
402‧‧‧直流鏈電容402‧‧‧DC link capacitor
403‧‧‧變頻模組403‧‧‧Variable frequency module
5‧‧‧電流感測模組5‧‧‧ Current sensing module
501‧‧‧電流感測器501‧‧‧ Current Sensor
502‧‧‧電流感測器502‧‧‧ Current Sensor
503‧‧‧電流感測器503‧‧‧ Current Sensor
6‧‧‧交流馬達模組6‧‧‧AC motor module
601‧‧‧三相交流感應馬達601‧‧‧Three-phase AC induction motor
602‧‧‧編碼器602‧‧‧Encoder
圖一A為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之架構圖；圖一B為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方 法之電路示意圖；圖二A為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之空間向量調變的電壓空間向量圖；圖二B為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之空間向量調變的電壓向量合成圖；圖二C為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之之空間向量調變的脈波形式圖圖三為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之弱磁控制方法流程圖；圖四為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之最大q-軸電流命令計算器之實施流程圖；以及圖五為本發明三相交流感應馬達驅動器之控制系統及其弱磁控制方法之模擬結果示意圖。FIG. 1A is a structural diagram of a control system of a three-phase AC induction motor driver and a weak magnetic control method thereof according to the present invention; FIG. 1B is a control system of a three-phase AC induction motor driver according to the present invention and a weak magnetic control method thereof FIG. 2A is a voltage space vector diagram of a space vector modulation of a control system of a three-phase AC induction motor driver and a field weakening control method thereof; FIG. 2B is a three-phase AC induction motor driver of the present invention; The voltage vector synthesis diagram of the space vector modulation of the control system and its weak magnetic control method; FIG. 2C is the pulse wave form of the space vector modulation of the control system of the three-phase AC induction motor driver and the weak magnetic control method thereof FIG. 3 is a flow chart of a control system of a three-phase AC induction motor driver and a weak magnetic control method thereof for a weak magnetic control method according to the present invention; FIG. 4 is a control system of a three-phase AC induction motor driver and a weak magnetic control method thereof according to the present invention; The flow chart of the implementation of the maximum q-axis current command calculator; and FIG. 5 is a schematic diagram of the simulation result of the control system of the three-phase AC induction motor driver and the weak magnetic control method thereof.
1‧‧‧驅動器控制模組1‧‧‧Drive Control Module
2‧‧‧弱磁控制模組2‧‧‧Weak magnetic control module
3‧‧‧交流電源3‧‧‧AC power supply
4‧‧‧電力迴路模組4‧‧‧Power loop module
5‧‧‧電流感測模組5‧‧‧ Current sensing module
6‧‧‧交流馬達模組6‧‧‧AC motor module
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| TWI612766B (en) * | 2016-07-22 | 2018-01-21 | 祥誠科技股份有限公司 | Motor control system |
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| US11677346B2 (en) | 2021-08-31 | 2023-06-13 | Kinetic Technologies International Holdings Lp | Method of operating a synchronous motor in a flux weakening mode and a controller therefor |
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| TW200623602A (en) * | 2004-07-30 | 2006-07-01 | Hitachi Ltd | Method and apparatus for controlling induction motor, steel and nonferrous equipment, railway vehicle, winder, ship, machine tool, paper machine, and conveyance facilities |
| US7294988B2 (en) * | 2004-12-10 | 2007-11-13 | Hitachi, Ltd. | Synchronous motor drive unit and a driving method thereof |
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2010
- 2010-02-24 TW TW099105240A patent/TWI420799B/en active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW347609B (en) * | 1995-12-15 | 1998-12-11 | Nat Science Council | Method for automatically adjusting parameters of a vector control converter controller |
| US6784634B2 (en) * | 2001-09-14 | 2004-08-31 | Edwin A. Sweo | Brushless doubly-fed induction machine control |
| TW200623602A (en) * | 2004-07-30 | 2006-07-01 | Hitachi Ltd | Method and apparatus for controlling induction motor, steel and nonferrous equipment, railway vehicle, winder, ship, machine tool, paper machine, and conveyance facilities |
| US7294988B2 (en) * | 2004-12-10 | 2007-11-13 | Hitachi, Ltd. | Synchronous motor drive unit and a driving method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI612766B (en) * | 2016-07-22 | 2018-01-21 | 祥誠科技股份有限公司 | Motor control system |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201130217A (en) | 2011-09-01 |
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