JPH0442916B2 - - Google Patents
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- Publication number
- JPH0442916B2 JPH0442916B2 JP60281406A JP28140685A JPH0442916B2 JP H0442916 B2 JPH0442916 B2 JP H0442916B2 JP 60281406 A JP60281406 A JP 60281406A JP 28140685 A JP28140685 A JP 28140685A JP H0442916 B2 JPH0442916 B2 JP H0442916B2
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- Prior art keywords
- signal
- current
- magnetic flux
- frequency
- calculation
- Prior art date
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Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、誘導電動機のトルク制御において、
誘導電動機の電圧，電流の信号から演算されるト
ルク電流演算信号と磁束演算信号とをフイードバ
ツク信号とすることにより、電動機パラメータに
依存されない高精度，高速応答のトルク制御を行
うための電動機制御装置に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides torque control for an induction motor,
This invention relates to a motor control device for performing high-precision, fast-response torque control that is independent of motor parameters by using a torque current calculation signal and a magnetic flux calculation signal calculated from voltage and current signals of an induction motor as feedback signals. It is something.
〔従来の技術〕
従来、誘導電動機のトルク制御方式として、第
２図に示すすべり周波数制御形のベクトル制御方
式があつた。同図においてS21はトルク電流指令
信号、S22は磁束指令信号であり、演算器２１は、
入力信号S21を入力信号S22で除したトルク電流指
令／磁束指令の比信号S23を出力するものである。
二次抵抗値の設定器２２により、前記信号S23は
二次抵抗値を乗じたすべり周波数指令信号S24が
出力される。２４は電流指令演算器、２５は誘導
電動機３１の速度検出を行う速度検出器である。[Prior Art] Conventionally, as a torque control method for an induction motor, there has been a slip frequency control type vector control method shown in FIG. In the figure, S 21 is a torque current command signal, S 22 is a magnetic flux command signal, and the computing unit 21 is
It outputs a torque current command/magnetic flux command ratio signal S23 obtained by dividing the input signal S21 by the input signal S22.
The secondary resistance value setter 22 outputs a slip frequency command signal S 24 obtained by multiplying the signal S 23 by the secondary resistance value. 24 is a current command calculator, and 25 is a speed detector for detecting the speed of the induction motor 31.
速度検出器信号を電気角に換算した回転周波数
信号S25とすべり周波数信号S24は加算器２３で加
算され、周波数信号発生器２６の入力信号とな
る。この周波数信号発生器２６により、入力信号
に比例した周波数の周波数指令信号S26が出力さ
れる。定数設定器２７により、磁束指令信号S22
は励磁電流指令信号S27に変換される。 The rotation frequency signal S 25 obtained by converting the speed detector signal into electrical angle and the slip frequency signal S 24 are added by an adder 23 and become an input signal of a frequency signal generator 26 . This frequency signal generator 26 outputs a frequency command signal S 26 whose frequency is proportional to the input signal. The constant setter 27 generates a magnetic flux command signal S 22
is converted into an excitation current command signal S27 .
一次電流指令信号演算器２４により、トルク電
流指令信号S21と励磁電流指令信号S27が演算さ
れ、その演算結果である一次電流指令信号S29が
出力される。次に、位相演算器２８は、トルク電
流指令信号S21と励磁電流指令信号S27を入力とし
て一次電流位相信号S28を演算する。２９は周波
数指令信号S26に電流位相信号S28を加算し、一次
電流の周波数指令信号S30を出力する。電流制御
形インバータ３０は、一次電流指令信号S29と一
次電流の周波数指令信号S30に相応した電動機電
流S31を誘導電動機３１に供給する。３２は電源
である。 The primary current command signal calculator 24 calculates the torque current command signal S 21 and the excitation current command signal S 27 , and outputs the primary current command signal S 29 as the result of the calculation. Next, the phase calculator 28 receives the torque current command signal S 21 and the excitation current command signal S 27 and calculates the primary current phase signal S 28 . 29 adds the current phase signal S 28 to the frequency command signal S 26 and outputs the frequency command signal S 30 of the primary current. The current control type inverter 30 supplies the induction motor 31 with a motor current S 31 corresponding to the primary current command signal S 29 and the primary current frequency command signal S 30 . 32 is a power source.
この従来方式のトルク制御装置において、電動
機３１の周波数は、速度検出器２５から得られる
回転周波数信号S25とすべり周波数信号S24の和で
与えられており、すべり周波数によつてトルク電
流と磁束のぞれぞれの指令と実際値の関係を結び
つけていた。 In this conventional torque control device, the frequency of the electric motor 31 is given by the sum of the rotation frequency signal S 25 obtained from the speed detector 25 and the slip frequency signal S 24 , and the torque current and magnetic flux are determined by the slip frequency. The relationship between each command and actual value was connected.
すなわち、次の式(1)によつて表される誘導電動
機の二次回路の電圧，電流の基本式より、式(2)に
よつて表されるすべり角周波数と磁束，トルク電
流の関係を導き出し、さらに式(3)に示す指令値に
置き換えて演算していた。 In other words, from the basic equations of voltage and current in the secondary circuit of an induction motor expressed by the following equation (1), the relationship between the slip angular frequency, magnetic flux, and torque current expressed by equation (2) can be expressed as follows: The calculation was performed by deriving the command value and replacing it with the command value shown in equation (3).
ωSΦ＋R2I2＝０ ……(1)
ここに、ωS：すべり角周波数
Φ：二次回路鎖交磁束
I2：二次電流（トルク電流）
R2：二次抵抗値
ωS＝−R2I2／Φ
＝−R2′I2′／Φ ……(2)
ここに、I2′：トルク電流（一次換算値）
R2′：二次抵抗値（一次換算値）
ωS＝−R2′*I2′*／Φ* ……(3)
ここに、I2′*，Φ*は、それぞれI2′，Φの指令
値、R2′*はR2′の設定値である。 ω S Φ＋R 2 I 2 =0 ...(1) Here, ω S : Slip angular frequency Φ : Secondary circuit linkage flux I 2 : Secondary current (torque current) R 2 : Secondary resistance value ω S = −R 2 I 2 /Φ = −R 2 ′I 2 ′/Φ …(2) Here, I 2 ′: Torque current (primary conversion value) R 2 ′: Secondary resistance value (primary conversion value) ω S = −R 2 ′ * I 2 ′ * /Φ * ...(3) Here, I 2 ′ * and Φ * are the command values of I 2 ′ and Φ, respectively, and R 2 ′ * is the command value of R 2 ′. This is the setting value.
このように、第２図に示す従来の装置では、す
べり周波数によつて指令値と実際値の関係を対応
づけていたので、次のような不具合を生じてい
た。すなわち、すべり周波数の演算において二次
抵抗値は設定値と実際値が異なることがあり、特
に回転子の温度変化によつて大きく変動するた
め、トルク電流や磁束の指令値と実際値の対応関
係をくずし、良好なトルク制御ができない。ま
た、すべり周波数は回転周波数に比べて通常、数
％以下の小さい値であり、すべり周波数の演算
上、高精度で高価な速度検出器を必要とする欠点
があつた。
As described above, in the conventional device shown in FIG. 2, the relationship between the command value and the actual value is correlated based on the slip frequency, which causes the following problems. In other words, when calculating the slip frequency, the secondary resistance value may differ from the set value and the actual value, and in particular, it fluctuates greatly due to changes in rotor temperature. This results in damage to the engine, and good torque control cannot be achieved. In addition, the slip frequency is usually a small value of several percent or less compared to the rotational frequency, and the calculation of the slip frequency has the drawback of requiring a highly accurate and expensive speed detector.
本発明は、このような従来方式の欠点に鑑み、
速度検出器を必要とせず、また、二次抵抗値等の
電動器定数に影響されず、高精度で安定なトルク
制御装置を提供することを目的とする。 In view of the drawbacks of such conventional methods, the present invention
It is an object of the present invention to provide a highly accurate and stable torque control device that does not require a speed detector and is not affected by motor constants such as secondary resistance values.
上記目的を達成するため、本考案の誘導電動機
のトルク制御装置は、トルク電流指令信号，磁束
指令信号及び周波数信号により制御される電流制
御形インバータで給電される誘導電動機の制御装
置において、
誘導電動機の電流検出信号S12と電圧検出信号
S13よりトルク電流演算信号S5及び磁束演算信号
S6を演算する磁束・トルク電流演算手段と、トル
ク電流指令信号S1と磁束指令信号S2の比信号S3を
演算する手段と、トルク電流演算信号S5と磁束演
算信号S6の比信号S4を演算する手段２と、前記比
信号S3とS4の値を比較演算する手段と、前記比信
号S3が比信号S4より大であれば電流制御形インバ
ータに与える周波数信号が大となり、前記比信号
S3が比信号S4より小であれば電流制御形インバー
タに与える周波数信号が小となるような周波数を
出力する手段とを備えたことを特徴とする。
In order to achieve the above object, the torque control device for an induction motor of the present invention is a control device for an induction motor that is powered by a current control type inverter that is controlled by a torque current command signal, a magnetic flux command signal, and a frequency signal. Current detection signal S12 and voltage detection signal
Torque current calculation signal S 5 and magnetic flux calculation signal from S 13
Magnetic flux/torque current calculation means for calculating S 6 , means for calculating a ratio signal S 3 of torque current command signal S 1 and magnetic flux command signal S 2 , and ratio of torque current calculation signal S 5 and magnetic flux calculation signal S 6 means 2 for calculating a signal S4 ; means for comparing and calculating the values of the ratio signals S3 and S4 ; and a frequency signal to be applied to the current controlled inverter if the ratio signal S3 is greater than the ratio signal S4 . becomes large, and the ratio signal
The present invention is characterized in that it includes means for outputting a frequency such that if S 3 is smaller than the ratio signal S 4 , the frequency signal applied to the current-controlled inverter becomes smaller.
次に、本発明の実施例を第１図に示すブロツク
図に基づいて説明する。
Next, an embodiment of the present invention will be described based on the block diagram shown in FIG.
第１図において、演算器１は、トルク電流指令
信号S1を磁束指令信号S2で除した比信号S3を出力
するものである。 In FIG. 1, a computing unit 1 outputs a ratio signal S3 obtained by dividing a torque current command signal S1 by a magnetic flux command signal S2 .
演算器２では、磁束・トルク電流演算器９の出
力であるトルク電流演算値S5を磁束演算信号S6で
除した比信号S4を出力する。 The calculator 2 outputs a ratio signal S4 obtained by dividing the torque current calculation value S5 , which is the output of the magnetic flux/torque current calculator 9, by the magnetic flux calculation signal S6 .
また、比較演算器３により、トルク電流指令／
磁束指令の比信号S3とトルク電流演算／磁束演算
の比信号S4が比較されその偏差が周波数制御器５
に入力され、その出力信号S8は周波数信号発生器
６に与えられる。ここで周波数制御器５は、偏差
（S3−S4）が正であれば周波数を増加し、偏差
（S3−S4）が負であれば周波数を減少させるよう
に作用する。 Also, the comparison calculator 3 calculates the torque current command/
The ratio signal S 3 of the magnetic flux command and the ratio signal S 4 of the torque current calculation/magnetic flux calculation are compared, and the deviation is calculated by the frequency controller 5.
, and its output signal S 8 is given to the frequency signal generator 6 . Here, the frequency controller 5 operates to increase the frequency if the deviation (S 3 -S 4 ) is positive, and to decrease the frequency if the deviation (S 3 -S 4 ) is negative.
トルク電流指令信号S1と励磁電流指令信号S7と
は電流指令演算器（比例演算器）４によつて演算
され、その演算結果である一次電流指令信号S9が
次の電流型インバータ１０に出力される。 The torque current command signal S 1 and the excitation current command signal S 7 are calculated by the current command calculator (proportional calculator) 4, and the primary current command signal S 9 , which is the calculation result, is sent to the next current type inverter 10. Output.
周波数信号発生器６では、周波数制御器（増幅
器）５の出力S8に比例した周波数の信号S10を発
生し、インバータ１０に周波数指令信号を与え
る。 The frequency signal generator 6 generates a signal S 10 with a frequency proportional to the output S 8 of the frequency controller (amplifier) 5, and provides a frequency command signal to the inverter 10.
磁束指令値S2と磁束演算値S6の偏差信号は磁束
制御器７によつて増幅され、励磁電流指令信号S7
となる。磁束指令値S2と磁束演算値S6とは比較演
算器８により比較され、その偏差信号が磁束制御
器７に入力される。 The deviation signal between the magnetic flux command value S 2 and the magnetic flux calculation value S 6 is amplified by the magnetic flux controller 7, and the excitation current command signal S 7 is amplified by the magnetic flux controller 7 .
becomes. The magnetic flux command value S 2 and the magnetic flux calculation value S 6 are compared by a comparator 8 , and the difference signal thereof is input to the magnetic flux controller 7 .
磁束・トルク電流演算器９は、電動機１１の電
流検出信号S12と電圧検出信号S13を入力として、
トルク電流演算信号S5及び磁束演算信号S6を出力
する。１０は電流制御型インバータで、一次電流
指令信号S9、一次電流周波数指令信号S10を入力
として、これに相応した電流S11を誘導電動機１
１に供給する。電圧検出器１３は、電動機１１の
交流電圧を検出し、電圧信号S13を出力する。電
流検出器１４は電動機１１の交流電流を検出し、
検出信号S14を出力する。１２はインバータの電
源である。 The magnetic flux/torque current calculator 9 receives the current detection signal S 12 and voltage detection signal S 13 from the motor 11 as input.
Outputs a torque current calculation signal S5 and a magnetic flux calculation signal S6 . 10 is a current control type inverter which inputs a primary current command signal S 9 and a primary current frequency command signal S 10 and outputs a current S 11 corresponding to these to the induction motor 1.
Supply to 1. Voltage detector 13 detects the AC voltage of electric motor 11 and outputs voltage signal S13 . The current detector 14 detects the alternating current of the motor 11,
Outputs a detection signal S14 . 12 is a power source for the inverter.
次に、上記の構成の制御装置の動作について説
明する。 Next, the operation of the control device having the above configuration will be explained.
本発明と従来方式との基本的な相違は、電動機
の周波数指令の与え方にある。本発明では、トル
ク電流指令信号S1と磁束指令信号S2の比の信号S3
と、電動機の電圧，電流の検出信号から演算され
たトルク電流演算信号S5と磁束演算信号S6の比の
信号S4の比較演算信号を周波数制御器５によつて
増幅した信号S8を周波数信号発生器６を介して電
動機の周波数を制御している。 The basic difference between the present invention and the conventional method lies in the way the frequency command for the motor is given. In the present invention, a signal S 3 which is the ratio of the torque current command signal S 1 and the magnetic flux command signal S 2 is
A signal S 8 is obtained by amplifying the calculated signal by the frequency controller 5 by comparing the signal S 4 which is the ratio of the torque current calculation signal S 5 and the magnetic flux calculation signal S 6 calculated from the motor voltage and current detection signals. The frequency of the motor is controlled via a frequency signal generator 6.
すなわち、指令信号S3と演算信号S4のフイーバ
ツク制御によつて電動機の周波数を定めている。
また、磁束指令信号S2と磁速演算信号の比較演算
信号を磁束制御器７を介して、磁束のフイードバ
ツク制御を行つている。一方、インバータへの電
流指令信号S9はトルク電流指令信号S1の二乗と励
磁電流指令信号S7の二乗の和の開平演算値として
与えられている。このように本発明では、電動機
の電圧，電流の検出信号から演算された磁束演算
信号，トルク電流演算信号に基づいて電動機の周
波数と磁束が制御される。 That is, the frequency of the motor is determined by feedback control of the command signal S3 and the calculation signal S4 .
Furthermore, a comparison signal between the magnetic flux command signal S 2 and the magnetic velocity calculation signal is passed through the magnetic flux controller 7 to perform magnetic flux feedback control. On the other hand, the current command signal S9 to the inverter is given as the square root value of the sum of the square of the torque current command signal S1 and the square of the excitation current command signal S7 . As described above, in the present invention, the frequency and magnetic flux of the motor are controlled based on the magnetic flux calculation signal and the torque current calculation signal calculated from the voltage and current detection signals of the motor.
上述したように本発明によれば、電動機の電
圧，電流の検出信号に基づいてフイードバツク制
御がなされるため、次の効果がある。
As described above, according to the present invention, feedback control is performed based on the voltage and current detection signals of the motor, so that the following effects can be obtained.
(1) 電動機のパラメータの変化に影響されること
なく、高精度のトルク制御が可能となる。(1) Highly accurate torque control is possible without being affected by changes in motor parameters.
(2) 電動機に速度検出器を設ける必要がなく、誘
導電動機の堅牢さの特徴を発揮できる。(2) There is no need to provide a speed detector to the motor, and the robustness of an induction motor can be demonstrated.
第１図は本発明は実施例を示すブロツク図、第
２図は従来のトルク制御装置の構成を示すブロツ
ク図である。
FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of a conventional torque control device.
Claims (1)
数信号により制御される電流制御形インバータで
給電される誘導電動機の制御装置において、 誘導電動機の電流検出信号S12と電圧検出信号
S13よりトルク電流演算信号S5及び磁束演算信号
S6を演算する磁束・トルク電流演算手段９と、ト
ルク電流指令信号S1と磁束指令信号S2の比信号S3
を演算する手段１と、トルク電流演算信号S5と磁
束演算信号S6の比信号S4を演算する手段２と、前
記比信号S3とS4の値を比較演算する手段３と、前
記比信号S3が比信号S4より大であれば電流制御形
インバータに与える周波数信号が大となり、前記
比信号S3が比信号S4より小であれば電流制御形イ
ンバータに与える周波数信号が小となるような周
波数を出力する手段５，６とを備えたことを特徴
とする誘導電動機のトルク制御装置。[Claims] 1. In a control device for an induction motor supplied with power by a current control type inverter controlled by a torque current command signal, a magnetic flux command signal, and a frequency signal, the current detection signal S12 and the voltage detection signal of the induction motor are provided.
Torque current calculation signal S 5 and magnetic flux calculation signal from S 13
Magnetic flux/torque current calculation means 9 for calculating S 6 and a ratio signal S 3 of torque current command signal S 1 and magnetic flux command signal S 2
means 1 for calculating the ratio signal S4 of the torque current calculation signal S5 and the magnetic flux calculation signal S6 ; means 3 for comparing and calculating the values of the ratio signals S3 and S4 ; If the ratio signal S3 is larger than the ratio signal S4 , the frequency signal given to the current-controlled inverter becomes large, and if the ratio signal S3 is smaller than the ratio signal S4 , the frequency signal given to the current-controlled inverter becomes large. 1. A torque control device for an induction motor, comprising means 5 and 6 for outputting a frequency that is small.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60281406A JPS62141990A (en) | 1985-12-13 | 1985-12-13 | Induction motor torque control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60281406A JPS62141990A (en) | 1985-12-13 | 1985-12-13 | Induction motor torque control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62141990A JPS62141990A (en) | 1987-06-25 |
| JPH0442916B2 true JPH0442916B2 (en) | 1992-07-14 |
Family
ID=17638703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60281406A Granted JPS62141990A (en) | 1985-12-13 | 1985-12-13 | Induction motor torque control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62141990A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2542451Y2 (en) * | 1992-12-14 | 1997-07-30 | 光成 名井 | Car rear mirror device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60187282A (en) * | 1984-03-05 | 1985-09-24 | Hitachi Ltd | Vector controller of induction motor |
-
1985
- 1985-12-13 JP JP60281406A patent/JPS62141990A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62141990A (en) | 1987-06-25 |
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| Date | Code | Title | Description |
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