JPH09182500A - Motor winding resistance correction type sensorless vector control inverter - Google Patents
Motor winding resistance correction type sensorless vector control inverterInfo
- Publication number
- JPH09182500A JPH09182500A JP7354239A JP35423995A JPH09182500A JP H09182500 A JPH09182500 A JP H09182500A JP 7354239 A JP7354239 A JP 7354239A JP 35423995 A JP35423995 A JP 35423995A JP H09182500 A JPH09182500 A JP H09182500A
- Authority
- JP
- Japan
- Prior art keywords
- motor
- temperature
- resistance value
- winding
- vector control
- 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
- 238000004804 winding Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 238000004364 calculation method Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
(57)【要約】
【課題】 高精度の速度制動制御を行うことができるセ
ンサレスベクトル制御インバータを提供する。
【解決手段】 センサレスベクトル制御インバータにお
いて、そのインバータで駆動されるモータに設けられた
モータ温度センサの温度検出値を元に、モータの固定子
巻線及び回転子巻線温度を算出し、その温度からその時
の両巻線抵抗値を演算で求めて、抵抗値の温度による変
化を補正するモータ温度による巻線抵抗値補正器を備
え、センサレスベクトル制御に必要なモータ電流の演算
を行うにあたって、モータ巻線抵抗値として補正後の抵
抗値を用いることを特徴とする。
(57) Abstract: A sensorless vector control inverter capable of performing highly accurate speed braking control is provided. In a sensorless vector control inverter, the temperature of a stator winding and a rotor winding of a motor is calculated based on a temperature detection value of a motor temperature sensor provided in a motor driven by the inverter, and the temperature is calculated. It is equipped with a winding resistance compensator based on the motor temperature that calculates the resistance value of both windings at that time from the calculation and corrects the change in resistance value due to temperature.When calculating the motor current required for sensorless vector control, the motor It is characterized in that the resistance value after correction is used as the winding resistance value.
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、モータ巻線抵抗値
補正式センサレスベクトル制御インバータ、特にクレー
ン、ブロア、ポンプその他の産業用機器駆動用誘導電動
機の高精度速度制御技術に適したモータ巻線抵抗値補正
式センサレスベクトル制御インバータに関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor winding resistance correction type sensorless vector control inverter, particularly a motor winding suitable for high precision speed control technology of an induction motor for driving industrial equipment such as cranes, blowers and pumps. The present invention relates to a resistance value correction type sensorless vector control inverter.
【０００２】[0002]
【従来の技術】従来のセンサレスベクトル制御インバー
タでは、ベクトル制御に必要なモータ電流の演算を、モ
ータの等価回路を元に行うにあたって、回路定数の一部
である巻線抵抗値（固定子巻線、回転子巻線）を予め定
めておいて、固定数値として用いている。その要領を図
３に示す。2. Description of the Related Art In a conventional sensorless vector control inverter, when a motor current required for vector control is calculated based on an equivalent circuit of a motor, a winding resistance value (stator winding , Rotor winding) and is used as a fixed value. The procedure is shown in FIG.
【０００３】図３は従来のセンサレスベクトル制御イン
バータ回路を示すもので、該ベクトル制御インバータ回
路５０は、予め設定された速度指令は速度制御部１に印
加され、ベクトル演算部２、ＰＷＭ制御部３を介してイ
ンバータ主回路部４に印加され、該インバータ主回路部
４はモータＭを所定速度で回転せしめる。Ｗは負荷を示
す。５はモータ電流センサを示し、検出されたモータ電
流は、モータ電流演算部６に印加され、その電流値はベ
クトル演算部２に、また該電流値から演算される速度
は、速度制御部１に印加される。FIG. 3 shows a conventional sensorless vector control inverter circuit. In the vector control inverter circuit 50, a preset speed command is applied to a speed control unit 1, a vector calculation unit 2 and a PWM control unit 3 are provided. Is applied to the inverter main circuit portion 4 via the inverter, and the inverter main circuit portion 4 causes the motor M to rotate at a predetermined speed. W indicates a load. Reference numeral 5 denotes a motor current sensor, and the detected motor current is applied to a motor current calculation unit 6, the current value of which is supplied to the vector calculation unit 2, and the speed calculated from the current value is supplied to the speed control unit 1. Is applied.
【０００４】即ちこの制御方法は、モータＭの巻線抵抗
は一定とし、負荷の変動によるモータ電流の変化に応じ
て速度変化を算出し、所定速度を保持するようにしたも
ので、抵抗値がモータ運転中の温度変化に従って変化す
ることを考慮していない。That is, according to this control method, the winding resistance of the motor M is constant, the speed change is calculated according to the change of the motor current due to the change of the load, and the predetermined speed is maintained. It does not take into consideration that the temperature changes during motor operation.
【０００５】[0005]
【発明が解決しようとする課題】しかし、上記モータの
電流、回転数などの値は、巻線抵抗値の変化に応じて変
化することがモータの特性の理論的解析から明らかにさ
れており、巻線温度は負荷の変動に応じて変動する。従
って高精度の速度制御を行うには、巻線の固定抵抗値で
はなく、制御を行うときの巻線温度で定まる抵抗値を用
いる必要がある。すなわち、抵抗値の温度補正が必要で
あるという問題点があった。本発明は、上記従来のモー
タ巻線抵抗値を一定としたセンサレスベクトル制御イン
バータの有する問題点を解決し、高精度の速度制動制御
を行うことができるセンサレスベクトル制御インバータ
を提供することを目的とする。However, it has been clarified from the theoretical analysis of the characteristics of the motor that the values of the electric current, the number of revolutions, etc. of the motor change according to the change of the winding resistance value. The winding temperature fluctuates according to the fluctuation of the load. Therefore, in order to perform speed control with high accuracy, it is necessary to use not the fixed resistance value of the winding wire but the resistance value determined by the winding temperature at the time of control. That is, there is a problem that the temperature of the resistance value needs to be corrected. An object of the present invention is to provide a sensorless vector control inverter that can solve the problems of the conventional sensorless vector control inverter with a constant motor winding resistance value and can perform highly accurate speed braking control. To do.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
の本発明のモータ巻線抵抗値補正式センサレスベクトル
制御インバータは、センサレスベクトル制御インバータ
において、そのインバータで駆動されるモータに設けら
れたモータ温度センサの温度検出値を元に、モータの固
定子巻線及び回転子巻線温度を算出し、その温度からそ
の時の両巻線抵抗値を演算で求めて、抵抗値の温度によ
る変化を補正するモータ温度による巻線抵抗値補正器を
備え、センサレスベクトル制御に必要なモータ電流の演
算を行うにあたって、モータ巻線抵抗値として補正後の
抵抗値を用いることを特徴とする。A motor winding resistance correction type sensorless vector control inverter of the present invention for achieving the above object is a motor provided in a motor driven by the inverter in a sensorless vector control inverter. The temperature of the stator winding and rotor winding of the motor is calculated based on the temperature detection value of the temperature sensor, and the resistance value of both windings at that time is calculated from that temperature to correct the change in resistance value due to temperature. It is characterized in that the winding resistance value corrector based on the motor temperature is provided, and the corrected resistance value is used as the motor winding resistance value when the motor current required for the sensorless vector control is calculated.
【０００７】上記の構成からなる本発明のモータ巻線抵
抗値補正式センサレスベクトル制御インバータは、モー
タ運転中の電流損失により発生する巻線、外皮など各部
の温度分布は一定のパターンを形成して定まる。従っ
て、温度センサはその取り付けが簡単な固定子外皮に取
り付けて、外皮温度が分かるとその時の巻線温度が推定
できる。巻線温度が定まると、巻線材質によって定まる
抵抗の温度係数を用いて抵抗値を求めることができる。
この抵抗値を用いて電流並びに速度演算を行ない、制御
回路にフイードバックする。In the motor winding resistance value correction type sensorless vector control inverter of the present invention having the above-mentioned structure, the temperature distribution of each portion such as the winding and the outer skin generated by the current loss during the motor operation forms a constant pattern. Determined. Therefore, if the temperature sensor is attached to the stator skin, which is easy to mount, and the skin temperature is known, the winding temperature at that time can be estimated. Once the winding temperature is determined, the resistance value can be obtained using the temperature coefficient of resistance determined by the winding material.
Using this resistance value, the current and speed are calculated and fed back to the control circuit.
【０００８】[0008]
【発明の実施の形態】以下、本発明のモータ巻線抵抗値
補正式センサレスベクトル制御インバータの実施の形態
を図面に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a motor winding resistance value correction type sensorless vector control inverter of the present invention will be described below with reference to the drawings.
【０００９】図１はモータ巻線抵抗値補正式センサレス
ベクトル制御インバータ回路を示すもので、このベクト
ル制御インバータ回路Ａは、前記従来のベクトル制御イ
ンバータ回路５０（図３）において、モータＭの温度測
定として固定外皮適所にモータ温度センサ１０を取付
け、該温度センサ１０の出力をモータ巻線抵抗値補正器
１１に印加する。この補正器１１はモータの温度変化と
巻線抵抗との比を予め設定し、これに応じて測定される
巻線温度からその抵抗値を算出するようにしたものであ
る。FIG. 1 shows a motor winding resistance correction type sensorless vector control inverter circuit. This vector control inverter circuit A measures the temperature of the motor M in the conventional vector control inverter circuit 50 (FIG. 3). As a result, the motor temperature sensor 10 is attached at an appropriate position on the fixed outer skin, and the output of the temperature sensor 10 is applied to the motor winding resistance compensator 11. The compensator 11 is designed to preset a ratio between a temperature change of the motor and a winding resistance, and calculate the resistance value from the winding temperature measured accordingly.
【００１０】即ち、外皮温度と巻線抵抗とは図２のよう
な関係を有する。モータ温度による巻線抵抗値補正器１
１には、この関係の曲線または数値表にして入力して保
持しておく。上記により測定された温度値はこの補正器
で上記モータ枠外皮測定温度から選択された抵抗値を算
出し、前記モータ電流センサ５からの測定電流値と共に
モータ電流演算部６に印加し、該演算部６で等価回路計
算を行って、ベクトル演算に必要な電流と速度を算出
し、前記要領と同様に速度は速度制御部１に、また電流
値はベクトル演算部２に印加する。That is, the outer skin temperature and the winding resistance have a relationship as shown in FIG. Winding resistance correction device 1 based on motor temperature
The curve or numerical table of this relationship is input and stored in 1. With respect to the temperature value measured as described above, the resistance value selected from the motor frame outer skin measurement temperature is calculated by this compensator, and the resistance value is applied together with the measured current value from the motor current sensor 5 to the motor current calculation unit 6 to perform the calculation. An equivalent circuit calculation is performed in the unit 6 to calculate the current and speed required for vector calculation, and the speed is applied to the speed control unit 1 and the current value is applied to the vector calculation unit 2 in the same manner as described above.
【００１１】なお、この外皮温度と巻線温度、または抵
抗値との関係は、モータ完成時に実施されるモータ温度
上昇テストから容易に得られる。The relationship between the outer skin temperature and the winding temperature or the resistance value can be easily obtained from a motor temperature rise test carried out when the motor is completed.
【００１２】この際、上記の抵抗値補正部１１では、図
２のような外皮温度と抵抗値の関係を入力してもよい
が、外皮温度と巻線温度の関係を入力しておき、一旦巻
線温度を定めてから、巻線材の抵抗の温度係数を用いて
計算してもよい。At this time, the resistance value correcting section 11 may input the relationship between the outer skin temperature and the resistance value as shown in FIG. After determining the winding temperature, the temperature coefficient of the resistance of the winding material may be used for the calculation.
【００１３】[0013]
【発明の効果】本発明のモータ巻線抵抗値補正式センサ
レスベクトル制御インバータによれば、従来の巻線抵抗
値を一定とし、電流検出値だけを用いて、モータ電流演
算部で固定されている等価回路の定数をもとに演算する
よりも、モータ巻線の温度変化に伴う抵抗値の変化を入
力することにより、アウトプットされる電流、速度の精
度が向上して、制御性能の改善を計ることができる。According to the motor winding resistance value correction type sensorless vector control inverter of the present invention, the conventional winding resistance value is fixed, and is fixed in the motor current calculation section using only the detected current value. Rather than calculating based on the constant of the equivalent circuit, by inputting the change of resistance value with the temperature change of the motor winding, the accuracy of the output current and speed is improved and the control performance is improved. It can be measured.
【図１】本発明のモータ巻線抵抗値補正式センサレスベ
クトル制御インバータの第１実施例を示す図である。FIG. 1 is a diagram showing a first embodiment of a motor winding resistance correction type sensorless vector control inverter of the present invention.
【図２】本発明のモータ巻線抵抗値補正式センサレスベ
クトル制御インバータの第２実施例を示す図である。FIG. 2 is a diagram showing a second embodiment of a motor winding resistance value correction type sensorless vector control inverter of the present invention.
【図３】従来のモータ巻線抵抗値補正式センサレスベク
トル制御インバータを示す図である。FIG. 3 is a diagram showing a conventional motor winding resistance correction type sensorless vector control inverter.
Ａ センサレスベクトル制御インバータ回路 Ｍ モータ ５ モータ電流センサ １０ モータ温度センサ １１ モータ巻線抵抗値補正器 A sensorless vector control inverter circuit M motor 5 motor current sensor 10 motor temperature sensor 11 motor winding resistance value corrector
Claims (1)
いて、そのインバータで駆動されるモータに設けられた
モータ温度センサの温度検出値を元に、モータの固定子
巻線及び回転子巻線温度を算出し、その温度からその時
の両巻線抵抗値を演算で求めて、抵抗値の温度による変
化を補正するモータ温度による巻線抵抗値補正器を備
え、センサレスベクトル制御に必要なモータ電流の演算
を行うにあたって、モータ巻線抵抗値として補正後の抵
抗値を用いることを特徴とするモータ巻線抵抗値補正式
センサレスベクトル制御インバータ。1. In a sensorless vector control inverter, the temperature of a stator winding and a rotor winding of a motor is calculated based on a temperature detection value of a motor temperature sensor provided in a motor driven by the inverter, By calculating the resistance value of both windings at that time from the temperature, and equipped with a winding resistance value corrector by the motor temperature to correct the change in resistance value due to temperature, in calculating the motor current required for sensorless vector control, A motor winding resistance value correction type sensorless vector control inverter, wherein a resistance value after correction is used as the motor winding resistance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7354239A JPH09182500A (en) | 1995-12-26 | 1995-12-26 | Motor winding resistance correction type sensorless vector control inverter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7354239A JPH09182500A (en) | 1995-12-26 | 1995-12-26 | Motor winding resistance correction type sensorless vector control inverter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH09182500A true JPH09182500A (en) | 1997-07-11 |
Family
ID=18436216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7354239A Pending JPH09182500A (en) | 1995-12-26 | 1995-12-26 | Motor winding resistance correction type sensorless vector control inverter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH09182500A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007185025A (en) * | 2006-01-05 | 2007-07-19 | Hitachi Ltd | Inverter control device |
| JP2007282300A (en) * | 2006-04-03 | 2007-10-25 | Nissan Motor Co Ltd | Motor control device |
| JP2010137931A (en) * | 2008-12-09 | 2010-06-24 | Yanagi Elec Co Ltd | Driving control device for conveyor |
| WO2015194368A1 (en) * | 2014-06-20 | 2015-12-23 | オリンパス株式会社 | Method for controlling medical manipulator |
| CN114514692A (en) * | 2019-09-20 | 2022-05-17 | 日本电产株式会社 | Motor control device and motor control method |
-
1995
- 1995-12-26 JP JP7354239A patent/JPH09182500A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007185025A (en) * | 2006-01-05 | 2007-07-19 | Hitachi Ltd | Inverter control device |
| JP2007282300A (en) * | 2006-04-03 | 2007-10-25 | Nissan Motor Co Ltd | Motor control device |
| JP2010137931A (en) * | 2008-12-09 | 2010-06-24 | Yanagi Elec Co Ltd | Driving control device for conveyor |
| WO2015194368A1 (en) * | 2014-06-20 | 2015-12-23 | オリンパス株式会社 | Method for controlling medical manipulator |
| JP2016005512A (en) * | 2014-06-20 | 2016-01-14 | オリンパス株式会社 | Medical manipulator control method |
| US9943957B2 (en) | 2014-06-20 | 2018-04-17 | Olympus Corporation | Method for controlling medical manipulator |
| CN114514692A (en) * | 2019-09-20 | 2022-05-17 | 日本电产株式会社 | Motor control device and motor control method |
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