JPH09201100A - Induction motor vector control device and method thereof - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To provide an induction motor vector control device and method capable of controlling even when the output voltage is fixed at the maximum value of the PWM inverter. In a vector control method for an induction motor that controls a magnetic flux and torque of an induction motor through a power converter, when a voltage of the power converter is fixed at a predetermined value, a torque current is calculated from a torque command and a magnetic flux command. A command and a magnetic flux current command are calculated, a voltage vector command value is calculated from the torque current command and the magnetic flux current command, and the magnitude of this voltage vector command value and the voltage of the power converter are fixed at a predetermined value. The magnetic flux correction value calculated from the difference from the voltage vector is added to the magnetic flux command.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an induction motor vector control device and method.

[0002]

2. Description of the Related Art FIG. 14 shows an example of a vector control calculation unit of a vector controller for an induction motor using a conventional voltage source PWM inverter as a power converter. The vector control calculation unit 1 includes a vector control command value calculation unit 11, a d-axis current control unit 12, a q-axis current control unit 13, a slip frequency integration unit 14, a coordinate conversion unit 15, and a triangular wave comparison unit 16. Consists of.

The magnetic flux command ΦRef and the torque command TorqRef are input to the vector control command value calculation unit 11, and the magnetic flux current command IdRef and the torque current command IqRef are calculated.
And slip frequency command ωsRef are output.

Flux current command IdRef and torque current command I
qRef is the Id obtained by converting the load current into orthogonal dq axes.
And Iq are compared to obtain the deviation. d-axis current controller 1
2 obtains the magnetic flux voltage command VdRef that makes the deviation between the magnetic flux current command IdRef and the feedback value Id zero,
Output.

The q-axis current controller 13 controls the torque current command I
A torque voltage command VqRef that makes the deviation between qRef and the feedback value Iq zero is obtained and output. The slip frequency integrator 14 receives the slip frequency command ωsRef and outputs the integrated value as the slip frequency phase θs.

The coordinate conversion unit 15 uses the magnetic flux voltage command VdRef.
And torque voltage command VqRef, slip frequency phase θs
And two-phase three-phase conversion based on the sum of the rotor phase θr and three-phase current control signals VuRef, VvRef, VvRef and output. The triangular wave comparison unit 16 uses the three-phase current control signal VuRe.
Pulse width modulation is performed by comparing f, VvRef, and VvRef with a triangular wave.

[0007]

Conventionally, in a vector controller for an induction motor using a voltage-type PWM inverter as a power converter, the magnitude and frequency of the PWM voltage are different in order to control the output torque and the magnetic flux of the motor. It must be variable.

However, in order to reduce the capacity of the PWM inverter, it is necessary to maximize the use of the output voltage, and it is necessary to allow the output voltage to have a margin in order to make the output voltage variable for vector control. Is not preferable because it increases the capacity of the PWM inverter.

It is therefore an object of the present invention to provide an induction motor vector control device and method capable of controlling the output voltage even when the output voltage is fixed at the maximum value of the PWM inverter.

[0010]

In order to solve the above-mentioned problems, in a vector control device for an induction motor according to claim 1 of the present invention, an induction motor for controlling magnetic flux and torque of the induction motor via a power converter. In the vector control device, the vector control command value calculation unit for calculating the torque current command, the magnetic flux current command, and the slip frequency command based on the magnetic flux command and the torque command, and the output of the vector control command value calculation unit. Input the magnetic flux current command and the torque current command,
The voltage command calculation unit that calculates the magnetic flux direction component voltage and the torque direction component voltage, and the magnetic flux direction component voltage and the torque direction component voltage that are the outputs of the voltage command calculation unit as input, and the magnitude of the voltage vector and the magnetic flux axis direction. And a polar coordinate converter for calculating the angle of the voltage vector, and the magnitude of the voltage vector output from the polar coordinate converter and the DC link voltage of the power converter are input, and the modulation factor of the power converter is calculated. A modulation factor calculation unit, a torque current control unit that calculates a slip frequency correction value by inputting a torque current command and a torque component current feedback value output from the vector control command value calculation unit, and the vector control command value calculation The slip frequency command output from the section and the sum of the slip frequency correction value output from the torque current control section are integrated, and the value is slipped. A slip frequency integrator that outputs as a wave number phase, a pulse mode command, a modulation factor that is output from the modulation factor calculator, an angle of a voltage vector that is output from the polar coordinate converter, and the slip frequency integrator. And a PWM voltage generator for outputting a PWM voltage command of the power converter, the input being the sum of the slip frequency phase.

According to a second aspect of the present invention, there is provided a vector control device for an induction motor, wherein the magnetic flux command and the torque command are controlled by the vector control device for the induction motor which controls the magnetic flux and the torque of the induction motor through the power converter. Based on the above, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a magnetic flux current command and a torque current command that are the outputs of this vector control command value calculation unit are input, and the magnetic flux A voltage command calculation unit that calculates the direction component voltage and the torque direction component voltage, and the magnetic flux direction component voltage and the torque direction component voltage that are the outputs of the voltage command calculation unit as input, and the magnitude of the first voltage vector and the magnetic flux. A polar coordinate conversion unit that calculates the angle of the voltage vector with respect to the axial direction, the magnitude of the first voltage vector that is the output of this polar coordinate conversion unit, and a predetermined fixed voltage. The magnitude of the vector and the voltage fixing command for determining whether to make the magnitude of the first voltage vector or the magnitude of the fixed voltage vector are input, and the magnitude of the new second voltage vector is changed according to the voltage fixing instruction. Voltage output from the voltage fixing unit, the magnitude of the second voltage vector output from the voltage fixing unit, the angle of the voltage vector output from the polar coordinate conversion unit, and the torque output from the voltage command calculation unit. The direction component voltage and the inverter angular frequency are input, and a magnetic flux correction value for correcting an error between the magnetic flux command generated when the magnitude of the second voltage vector is fixed to the magnitude of the fixed voltage vector is calculated, The magnetic flux correction value calculation unit that outputs the vector control command value calculation unit, the magnitude of the second voltage vector that is output from the voltage fixing unit, and the direct current of the power conversion device. A link voltage is input, a modulation factor calculation unit that calculates the modulation factor of the power conversion device, and a torque current command and a torque component current feedback value output from the vector control command value calculation unit are input, and a slip frequency is input. A torque current control unit that calculates a correction value, a sum of a slip frequency command output from the vector control command value calculation unit and a slip frequency correction value output from the torque current control unit are integrated, and the value is slipped. A slip frequency integrator that outputs as a frequency phase, a pulse mode command, a modulation factor that is output from the modulation factor calculator, an angle of a voltage vector that is output from the polar coordinate converter, and the slip frequency integrator. And a PWM voltage generator for outputting a PWM voltage command of the power converter, the sum of the slip frequency and phase being input. .

In a vector controller for an induction motor according to a third aspect of the present invention, in the vector controller for an induction motor for controlling the magnetic flux and torque of the induction motor via a power converter, a magnetic flux command and a torque command are given. , The rotor angular frequency, a voltage fixing command that determines whether or not the voltage vector size is fixed, and a predetermined fixed voltage vector size are input, and a torque command is used to fix the voltage vector size. The torque current command, the magnetic flux current command, and the slip frequency command are output based on the rotor angular frequency and the size of the fixed voltage vector, and when the size of the voltage vector is not fixed, the torque current is based on the magnetic flux command and the torque command. Command, magnetic flux current command and slip frequency command output vector control command value calculation unit, and the magnetic flux output from this vector control command value calculation unit The voltage command calculation unit that calculates the magnetic flux direction component voltage and the torque direction component voltage by inputting the flow command and the torque current command, and the magnetic flux direction component voltage and the torque direction component voltage that are the outputs of the voltage command calculation unit. As input,
A polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction, the magnitude of the voltage vector output from this polar coordinate conversion unit, and the DC link voltage of the power conversion device as input, and the power A modulation factor calculation unit that calculates the modulation factor of the conversion device, and a torque current control unit that calculates the slip frequency correction value by inputting the torque current command and the torque component current feedback value output from the vector control command value calculation unit. And a slip frequency integrating unit that integrates the sum of the slip frequency command output from the vector control command value calculation unit and the slip frequency correction value output from the torque current control unit, and outputs that value as the slip frequency phase. A pulse mode command, a modulation rate output from the modulation rate calculation section, and a voltage vector output from the polar coordinate conversion section. The sum of the slip frequency phase output from the angle and the slip frequency integration unit as an input, characterized by comprising a PWM voltage generation unit for outputting a PWM voltage command of the power converter.

In a vector controller for an induction motor according to a fourth aspect of the present invention, a magnetic flux command and a torque command are supplied to the vector controller for an induction motor which controls the magnetic flux and torque of the induction motor via a power converter. Based on the above, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a magnetic flux current command and a torque current command that are the outputs of this vector control command value calculation unit are input, and the magnetic flux A voltage command calculation unit that calculates a direction component voltage and a torque direction component voltage, a weight coefficient calculation unit that calculates a first weight coefficient and a second weight coefficient by using an inverter angular frequency as an input, and the vector control command value. The value obtained by multiplying the difference between the magnetic flux current command output from the arithmetic unit and the actual magnetic flux current value by the first weighting coefficient output from the weighting factor arithmetic unit is input, and the magnetic flux direction A d-axis voltage control unit that calculates a voltage correction value, and a first weighting factor output from the weighting factor calculation unit to the difference between the torque current command output from the vector control command value calculation unit and the actual torque current value. A q-axis voltage control unit for calculating and outputting a torque direction voltage correction value, and a magnetic flux direction component voltage output from the voltage command calculation unit and an output of the d-axis current control unit. The sum of the magnetic flux direction voltage correction value and the sum of the torque direction component voltage output from the voltage command calculation unit and the torque direction component voltage correction value output from the q-axis current control unit are input, and the first A polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction, the magnitude of the first voltage vector that is the output of this polar coordinate transformation unit, the magnitude of the predetermined fixed voltage vector, and the first Voltage A voltage fixing command for determining whether to set the size of the cutler or the fixed voltage vector, and a new voltage fixing unit that outputs a new second voltage vector according to the voltage fixing command; The magnitude of the second voltage vector output from the voltage fixing unit, the angle of the voltage vector output from the polar coordinate conversion unit, the torque direction component voltage output from the voltage command calculation unit, and the inverter angular frequency are As an input, a magnetic flux correction value that corrects an error from the magnetic flux command generated by the size of the second voltage vector being fixed to the fixed voltage vector is calculated, and is output to the vector control command value calculation unit. The magnetic flux correction value calculation unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the DC link voltage of the power conversion device are input, and the power conversion is performed. A modulation factor calculator for calculating the modulation factor of the device, and a second weight output from the weighting factor calculator for the difference between the torque current command output from the vector control command value calculator and the actual torque component current value. A value obtained by multiplying a coefficient is input, a torque current control unit that calculates a slip frequency correction value, a slip frequency command output from the vector control command value calculation unit, and a slip frequency correction value output from the torque current control unit. And a slip frequency integrator that outputs the value as a slip frequency phase, a pulse mode command, a modulation ratio output from the modulation ratio calculator, and a voltage vector output from the polar coordinate converter. And a PWM voltage generator that outputs the PWM voltage command of the power conversion device by using the sum of the slip frequency phase output from the slip frequency integration unit as an input. And it features.

According to a fifth aspect of the present invention, there is provided an induction motor vector control device, wherein the induction motor vector control device controls the magnetic flux and torque of the induction motor via a power conversion device. Based on the above, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a magnetic flux current command and a torque current command that are the outputs of this vector control command value calculation unit are input, and the magnetic flux A voltage command calculation unit that calculates the direction component voltage and the torque direction component voltage, and the magnetic flux direction component voltage and the torque direction component voltage that are the outputs of the voltage command calculation unit as input, and the magnitude of the first voltage vector and the magnetic flux. A polar coordinate conversion unit that calculates the angle of the voltage vector with respect to the axial direction, the magnitude of the first voltage vector that is the output of this polar coordinate conversion unit, and a predetermined fixed voltage. The magnitude of the vector and the voltage fixing command for determining whether to make the magnitude of the first voltage vector or the magnitude of the fixed voltage vector are input, and the magnitude of the new second voltage vector is changed according to the voltage fixing instruction. Voltage output from the polar coordinate converter, the magnitude of the second voltage vector output from the voltage clamp, and the inverter angular frequency. , A magnetic flux correction value which calculates a magnetic flux correction value for correcting an error from a magnetic flux command generated when the size of the second voltage vector is fixed to the size of the fixed voltage vector, and outputs the magnetic flux correction value to the vector control command value calculation unit. The value calculation unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the DC link voltage of the power conversion device are used as inputs, and the conversion of the power conversion device is performed. A modulation factor calculation unit for calculating a ratio, a torque current command output from the vector control command value calculation unit and a torque component current feedback value as inputs, and a torque current control unit for calculating a slip frequency correction value, and the vector A slip frequency integration unit that integrates the sum of the slip frequency command output from the control command value calculation unit and the slip frequency correction value output from the torque current control unit, and outputs that value as the slip frequency phase, and a pulse mode A command, a modulation rate output from the modulation rate calculation unit, a sum of the angle of the voltage vector output from the polar coordinate conversion unit and the slip frequency phase output from the slip frequency integration unit as an input, and the power And a PWM voltage generation unit that outputs a PWM voltage command of the conversion device.

In a vector controller for an induction motor according to a sixth aspect of the present invention, the magnetic flux command and the torque command will be described later in the vector controller for the induction motor which controls the magnetic flux and the torque of the motor through the power converter. Based on the magnetic flux correction value, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a magnetic flux current command and a torque current command that are the outputs of this vector control command value calculation unit. Is input, the voltage command calculation unit that calculates the magnetic flux direction component voltage and the torque direction component voltage, and the magnetic flux direction component voltage and the torque direction component voltage that are the outputs of the voltage command calculation unit are input, and the first voltage Polar coordinate conversion unit that calculates the magnitude of the vector and the angle of the voltage vector with respect to the magnetic flux axis direction, and the magnitude of the first voltage vector that is the output of this polar coordinate conversion unit , A predetermined fixed voltage vector and a voltage fixing command for determining whether to make the size of the first voltage vector or the size of the fixed voltage vector are input, and a new second voltage is set in accordance with the voltage fixing command. A voltage fixing unit that outputs the magnitude of the voltage vector, a magnitude of the first voltage vector that is the output of the polar coordinate conversion unit, and a magnitude of the second voltage vector that is output from the voltage fixing unit as inputs. , A magnetic flux correction value which calculates a magnetic flux correction value for correcting an error from a magnetic flux command generated when the size of the second voltage vector is fixed to the size of the fixed voltage vector, and outputs the magnetic flux correction value to the vector control command value calculation unit. The value calculation unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the DC link voltage of the power conversion device are input, and the modulation factor of the power conversion device is calculated. A modulation factor calculating unit, and an output torque current command and the torque component current actual value from the vector-control-command-value calculating section as an input to,
A torque current control unit that calculates a magnetic flux angle correction value, a slip frequency integrator that integrates the slip frequency command output from the vector control command value calculator, and outputs the value as a slip frequency phase, and a pulse mode command. A modulation rate output from the modulation rate calculation section, an angle of a voltage vector output from the polar coordinate conversion section, a slip frequency phase output from the slip frequency integration section, and a magnetic flux output from the torque current control section. PW which inputs the sum of the angle correction value and the rotor phase and outputs the PWM voltage command of the power converter
An M voltage generator is provided.

In a vector controller for an induction motor according to a seventh aspect of the present invention, in the vector controller for an induction motor for controlling the magnetic flux and torque of the induction motor via the power converter, a magnetic flux command, a torque command, and a later-described command. Based on the magnetic flux correction value and the secondary resistance correction value to be described later, a vector control command value calculation unit for calculating a torque current command, a magnetic flux current command, and a slip frequency command, and an output of this vector control command value calculation unit. A secondary resistance correction value calculation unit for calculating a secondary resistance correction value by inputting a certain torque current command and a torque component current actual value, and a magnetic flux current command and a torque current command output from the vector control command value calculation unit. And a voltage command calculation unit that calculates a magnetic flux direction component voltage and a torque direction component voltage, and a magnetic flux direction component voltage and a torque direction output from the voltage command calculation unit. A polar coordinate conversion unit that receives the divided voltage as an input and calculates the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction; the magnitude of the first voltage vector that is the output of this polar coordinate conversion unit; Of the fixed voltage vector and a voltage fixing command for determining whether to set the size of the first voltage vector or the size of the fixed voltage vector as input, and a new second voltage according to the voltage fixing command. A voltage fixing unit that outputs the magnitude of the vector, a magnitude of the first voltage vector that is the output of the polar coordinate conversion unit, and a magnitude of the second voltage vector that is output from the voltage fixing unit are input, The vector control command is calculated by calculating a magnetic flux correction value for correcting an error from the magnetic flux command generated when the size of the voltage vector of 2 is fixed to the size of the fixed voltage vector. The magnetic flux correction value calculation unit for outputting to the calculation unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the DC link voltage of the power conversion device are input, and the modulation factor of the power conversion device is calculated. And a slip frequency integrator that integrates the slip frequency command output from the vector control command value calculator and outputs the value as a slip frequency phase, a pulse mode command, and the modulation ratio calculator. PWM of the power conversion device, which receives the sum of the modulation rate output from the power converter, the angle of the voltage vector output from the polar coordinate conversion unit, and the slip frequency phase and the rotor phase output from the slip frequency integration unit. And a PWM voltage generator that outputs a voltage command.

In the vector controller for an induction motor according to claim 8 of the present invention, in the vector controller for an induction motor for controlling the magnetic flux and the torque of the induction motor through the power converter, the magnetic flux command, the torque command, and a later-described command. Based on the magnetic flux correction value, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a magnetic flux current command and a torque current command that are the outputs of this vector control command value calculation unit. And a voltage command calculation unit that calculates the magnetic flux direction component voltage and the torque direction component voltage, and a weight coefficient calculation unit that calculates the first weight coefficient and the second weight coefficient by inputting the inverter angular frequency. , The difference between the magnetic flux current command output from the vector control command value calculation unit and the actual magnetic flux current value is multiplied by the first weighting coefficient output from the weighting coefficient calculation unit. Is input to the d-axis voltage control unit for calculating the magnetic flux direction voltage correction value, and the difference between the torque current command output from the vector control command value calculation unit and the actual torque current value is output from the weighting coefficient calculation unit. And a q-axis voltage control unit for calculating and outputting a torque direction voltage correction value, and a magnetic flux direction component voltage and the d-axis current output from the voltage command calculation unit. The sum of the magnetic flux direction voltage correction value that is the output of the control unit, the sum of the torque direction component voltage that is the output of the voltage command calculation unit and the torque direction component voltage correction value that is the output of the q-axis current control unit, and A polar coordinate converter that receives as input the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction;
The magnitude of the first voltage vector that is the output of the polar coordinate converter, the magnitude of a predetermined fixed voltage vector, and the voltage that determines whether the magnitude of the first voltage vector or the magnitude of the fixed voltage vector is determined. A voltage fixing unit that inputs a fixed command and outputs a new magnitude of the second voltage vector according to the voltage fixing command, a magnitude of the first voltage vector output from the polar coordinate conversion unit, and the voltage fixing unit. With the magnitude of the second voltage vector output from the input as the input, a magnetic flux correction value for correcting an error from the magnetic flux command generated when the magnitude of the second voltage vector is fixed to the fixed voltage vector is set. The magnetic flux correction value calculation unit that calculates and outputs the vector control command value calculation unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the direct current of the power conversion device. Input voltage and a modulation factor calculator for calculating the modulation factor of the power converter, and the weighting factor for the difference between the torque current command output from the vector control command value calculator and the actual torque component current value. A torque current control unit for calculating a magnetic flux angle correction value and a slip frequency command output from the vector control command value calculation unit are integrated with a value obtained by multiplying the second weighting coefficient, which is the output of the calculation unit, as an input, A slip frequency integrator that outputs the value as a slip frequency phase, a pulse mode command, a modulation factor output from the modulation factor calculator, an angle of a voltage vector output from the polar coordinate converter, and the slip frequency integral. Of the slip frequency phase output from the electric power converter, the magnetic flux angle correction value output from the torque current control unit, and the rotor phase, and outputs a PWM voltage command for the power converter. Characterized by comprising a PWM voltage generation unit for.

According to a ninth aspect of the vector control method for an induction motor of the present invention, in the vector control method for an induction motor for controlling a magnetic flux and a torque of the induction motor through a power converter, a torque command and a magnetic flux command are used. A characteristic is that a torque current command and a magnetic flux current command are calculated, a voltage vector command value is calculated from the torque current command and the magnetic flux current command, and the angle of the voltage vector command value with respect to the magnetic flux direction is added to the inverter voltage command phase. And

A vector control method for an induction motor according to a tenth aspect of the present invention is the vector control method for an induction motor, wherein the magnetic flux and torque of the induction motor are controlled via the power conversion device. When fixing at a predetermined value, a torque current command and a magnetic flux current command are calculated from the torque command and the magnetic flux command, a voltage vector command value is calculated from this torque current command and the magnetic flux current command, and this voltage vector command value is calculated. And the magnetic flux correction value calculated from the difference between the voltage vector when the voltage of the power converter is fixed at a predetermined value and the magnetic flux correction value is added to the magnetic flux command.

[0020]

The vector controller for an induction motor according to claim 1 of the present invention calculates the torque current command and the magnetic flux current command from the magnetic flux command and the torque command, and calculates the magnetic flux direction component from the magnetic flux current command and the torque current command. The current response speed is calculated by calculating the voltage and the torque direction component voltage, calculating the angle of the voltage vector with respect to the magnetic flux axis direction from the magnetic flux direction component voltage and the torque direction component voltage, and adding the angle of this voltage vector to the slip frequency phase. Can be faster.

A vector controller for an induction motor according to a second aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the current response speed can be increased by adding the angle of the voltage vector to the slip frequency phase. , The angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the pressure vector, it can be made to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

According to a third aspect of the present invention, there is provided a vector control device for an induction motor, which includes a magnetic flux command, a torque command, a rotor angular frequency, and a voltage fixing command for deciding whether or not to fix the magnitude of the voltage vector. From the magnitude of the fixed voltage vector, when fixing the magnitude of the voltage vector, the torque current instruction and the magnetic flux current instruction are calculated based on the torque instruction, the rotor angular frequency, and the magnitude of the fixed voltage vector, and the fixed voltage vector The output torque is made to follow the command value by correcting the error with the magnetic flux command caused by the fixed size. When the magnitude of the voltage vector is not fixed, the torque current command and the magnetic flux current command are calculated based on the magnetic flux command and the torque command.

Further, the magnetic flux direction component voltage and the torque direction component voltage are calculated from the magnetic flux current command and the torque current command,
The current response speed can be increased by calculating the angle of the voltage vector with respect to the magnetic flux axis direction from the magnetic flux direction component voltage and the torque direction component voltage and adding the angle of the voltage vector to the slip frequency phase.

According to a fourth aspect of the present invention, in the vector controller for an induction motor, the variable voltage control and the fixed voltage control are changed by gradually changing the weight when the variable voltage control and the fixed voltage control are changed. Do it smoothly.

A vector controller for an induction motor according to a fifth aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Sometimes, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the current response speed can be increased by adding the angle of the voltage vector to the slip frequency phase. , And the magnitude of the second voltage vector, the magnitude of the second voltage vector is fixed to the magnitude of the fixed voltage vector. The error between the magnetic flux command calculating a flux correction value for correcting occurring Te, can be made to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to a sixth aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to a seventh aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to claim 8 of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

Further, when the variable voltage control and the fixed voltage control are shifted, the weight is gradually changed, so that the variable voltage control and the fixed voltage control can be smoothly shifted.

A vector control method for an induction motor according to a ninth aspect of the present invention calculates a torque current command and a magnetic flux current command from a torque command and a magnetic flux command, and calculates a voltage vector from the torque current command and the magnetic flux current command. The current response speed can be increased by calculating the command value and adding the angle of this voltage vector command value with respect to the magnetic flux direction to the inverter voltage command phase.

In the vector control method for an induction motor according to claim 10 of the present invention, when the voltage of the power converter is fixed at a predetermined value, the torque current command and the magnetic flux current command are calculated from the torque command and the magnetic flux command. Then, the voltage vector command value is calculated from the torque current command and the magnetic flux current command, and is calculated from the difference between the magnitude of this voltage vector command value and the voltage vector when the voltage of the power converter is fixed at a predetermined value. By adding the magnetic flux correction value to the magnetic flux command, the output torque can be made to follow the command value.

[0032]

Embodiments of the present invention will be described below with reference to the drawings. A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a configuration diagram of a vector control calculation unit of a vector control device for an induction motor according to the first embodiment.

The vector control calculation unit 20 includes a vector control command calculation unit 21, a voltage command calculation unit 22, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation factor calculation unit 25, and a magnetic flux correction value calculation unit 26. A torque current controller 27, a slip frequency integrator 28, and a PWM voltage generator 29 are included.

In the vector control command value calculation unit 21, the sum of the magnetic flux command ΦRef and the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation unit 26, which will be described later, and the torque command value TorqRef.
Is input, and the magnetic flux current command IdRe is calculated by the following equation.
f, torque current command IqRef, slip frequency command ωsRef
Is output.

[0035]

[Equation 1]

However, M: mutual inductance L ₂ : secondary inductance R ₂ : secondary resistance In the voltage command calculation unit 22, the magnetic flux current command IdRef and the torque current command IqRef output from the vector control command value calculation unit 21 are calculated. As an input, the magnetic flux axis voltage command VdRef and the torque axis voltage command VqRef are obtained and output by the calculation of the following equations.

[0037]

[Equation 2] However, R ₁₂ : R ₁ + R ₂ * (M / L ₂ ) ² R ₁ : primary resistance, R ₂ : secondary resistance L ₁ : primary inductance, L ₂ : secondary inductance M: mutual inductance σ: 1-M ² / (L ₁ * L ₂ ) ω ₁ : Inverter angular frequency, ωr: Rotor angular frequency In the polar coordinate conversion unit 23, the magnetic flux direction voltage command VdRef and the torque direction voltage command VqRef output from the voltage command calculation unit 22 are calculated. As an input, the magnitude | V | of the voltage vector and the angle δ of the voltage vector with respect to the magnetic flux axis direction are output by the calculation of the following equation.

[0038]

(Equation 3) The voltage fixing unit 24 receives the voltage vector magnitude | V | output from the polar coordinate converter 23, the command value | V | Ref of the voltage vector magnitude, and the voltage fixing command Vfix as input, and the voltage fixing command Vfix. Then, the magnitude | V | 'of the new voltage vector is calculated and output.

The voltage fixing unit 24 operates so as to fix the command value | V | Ref of the voltage vector size when the voltage vector size | V | exceeds a predetermined value. The voltage fixing command Vfix is "1" when the magnitude of the voltage vector is fixed to the command value | V | Ref, and "0" when the magnitude of the voltage vector is not fixed to the command value | V | Ref. If the voltage fixing command Vfix is 1, | V | '= | V | Ref If the voltage fixing command Vfix is 0, | V |' = | V depending on the value of the voltage fixing command Vfix. Output |.

The magnetic flux correction value calculation unit 26 will be described with reference to FIG. The magnetic flux correction value calculation unit 26 outputs the magnitude | V | ′ of the voltage vector output from the voltage fixing unit 24, the voltage vector angle δ output from the polar coordinate conversion unit 23, and the voltage command calculation unit 22. The magnetic flux correction value ΔΦ is calculated by the following calculation using the torque axis direction voltage VqRef and the inverter angular frequency ω ₁ .

[0041]

(Equation 4) The torque current control unit 27 includes the vector control command value calculation unit 2
The slip frequency correction value Δωs is output by the proportional-integral control represented by the following equation using the torque current command IqRef and the actual torque current value Iq output from 1 as input.

[0042]

(Equation 5) However, s: differential operator Kp: proportional gain Ki: integral gain In the slip frequency integrator 28, the slip frequency command value ωsRe output from the vector control command value calculator 21.
The sum of f and the slip frequency correction value Δωs output from the torque current controller 27 is input, and the input integrated value is output as the slip frequency phase θs.

[0043]

(Equation 6) However, s: differential operator In the modulation factor calculation unit 25, the magnitude | V | 'of the voltage vector output from the voltage fixing unit 24 and the PWM inverter DC link voltage Vdc are input, and the modulation factor is calculated by the following calculation. Calculate α.

[0044]

(Equation 7) The PWM voltage generator 29 will be described with reference to FIGS. 3 and 4.
In the PWM voltage generation unit 29, the inverter phase θ ₁ that is the sum of the slip frequency phase θs output from the slip frequency integration unit 28, the rotor phase θr, and the voltage vector angle δ output from the polar coordinate conversion unit 23. Then, the three-phase PWM voltage commands VuPWM, VvPWM, and VwPWM are output by the following calculation using the modulation ratio α output from the modulation ratio calculator 25 and the pulse mode command Pmode as input.

The operation when the pulse mode command is 1 will be described. Using the input inverter phase θ ₁ ,
The inverter phases θu, θv, and θw of each UVW phase are calculated by the following equation.

[0046]

[Formula 8] θu = θ ₁ + π / 2 θv = θ ₁ + π / 2-2π / 3 θw = θ ₁ + π / 2-4π / 3 The U-phase inverter phase θu is input to the phase PWM voltage generator 31. U phase PWM voltage command VuPW
Output M.

[0047]

[Equation 9] Similarly, V-phase PWM voltage command VvPWM, W-phase voltage command Vw
The PWM is output by the phase PWM voltage generator 31 as follows.

[0048]

(Equation 10)

The pulse waveform at this time is as shown in FIG. Next, the phase PW when the pulse mode command is 3
The operation of the M voltage generator 31 will be described.

PWM calculated and stored in advance
According to the relationship between voltage on / off phase θ _SW and modulation rate α, phase PWM is performed using on / off phase θ _SW that varies depending on modulation rate α.
Calculate the voltage. The modulation rate α and the on / off phase θ _SW of the PWM voltage are as follows, for example.

[0051]

[Equation 11] Then, by comparing the phase of θ _SW with the U-phase voltage phase θu,
The U-phase PWM voltage command is obtained as follows.

[0052]

(Equation 12) Similarly, V-phase PWM voltage command VvPWM, W-phase voltage command Vw
The PWM is output by the phase PWM voltage generator 31 as follows.

[0053]

(Equation 13)

Similarly, in other pulse modes, the phase PWM voltage command is determined and output by comparing the PWM voltage ON / OFF phase stored corresponding to the modulation rate with each phase voltage phase.

In the vector controller thus constructed, the torque current command and the magnetic flux current command are calculated from the magnetic flux command and the torque command, and the magnetic flux direction component voltage and the torque direction component are calculated from the magnetic flux current command and the torque current command. The first voltage is calculated from the magnetic flux direction component voltage and the torque direction component voltage.
Of the voltage vector and the angle of the voltage vector with respect to the direction of the magnetic flux axis, and when fixing the voltage vector size, a predetermined fixed voltage vector size is output as the second voltage vector size. The current response speed can be increased by adding the angle of the vector to the slip frequency phase. From the magnitude of the second voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the second The output torque is commanded by calculating the magnetic flux correction value that corrects the error from the magnetic flux command generated when the size of the voltage vector is fixed to the fixed voltage vector, and adding the magnetic flux correction value to the magnetic flux command. Can be followed.

Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the vector control calculation unit 40 includes a vector control command value calculation unit 41, a voltage command calculation unit 22, a polar coordinate conversion unit 23, and a modulation factor calculation unit 25.
, Torque current control unit 27 and slip frequency integration unit 28
And a PWM voltage generator 29.

In this configuration, the voltage command calculator 22
A polar coordinate converter 23, a modulation factor calculator 25, a torque current controller 27, a slip frequency integrator 28, and a PWM.
The operation of the voltage generator 29 is the same as that of the first embodiment, so the description thereof is omitted.

In the vector control command value calculation unit 41, the magnetic flux command ΦRef, the torque command TorqRef, the rotor angular frequency ωr, and the voltage vector magnitude command value | V |
Input the voltage fixing command with Ref and the voltage fixing command Vfix
The axis current command IdRef, the torque current command IqRef, and the slip frequency command ωsRef are output by the following two calculation methods according to the value of Vfix.

The voltage fixing command Vfix takes Vfix = 1 when the magnitude of the voltage vector is fixed and Vfix = 0 when the magnitude of the voltage vector is not fixed.

First, when the voltage fixing command Vfix = 1, the torque command TorqRef, the voltage vector magnitude command | V | Ref, and the rotor angular frequency ωr are stored in advance as parameters. Axis current command Id
Ref, q-axis current command IqRef, slip frequency command ωsRef
Is output. IdRef, IqRef, ωsR at this time
The conditions that ef must satisfy are

[0061]

[Equation 14]

R ₁₂ : R ₁ + R ₂ × (M / L ₂ ) ² R ₁ : Primary resistance, R ₂ : Secondary resistance L ₁ : Primary inductance, L ₂ : Secondary inductance M: Mutual inductance σ: 1- M ² / (L ₁ × L ₂ ) ωr: Rotor angular frequency. When the voltage fixing command Vfix = 0, the magnetic flux command ΦRef and the torque command value TorqRef are input, and the magnetic flux current command IdRef,
The torque current command IqRef and the slip frequency command ωsRef are output.

[0063]

(Equation 15)

However, M: Mutual inductance L ₂ : Secondary inductance R ₂ : Secondary resistance In the vector control device thus constructed, the magnetic flux command, the torque command, the rotor angular frequency and the magnitude of the voltage vector are fixed. From the voltage fixed command that decides whether to do or not and the size of the predetermined fixed voltage vector, when fixing the size of the voltage vector, the torque current command based on the torque command, the rotor angular frequency and the size of the fixed voltage vector. And a magnetic flux current command are calculated, and an error from the magnetic flux command generated due to the fixed voltage vector being fixed is corrected, and the output torque follows the command value. When the magnitude of the voltage vector is not fixed, the torque current command and the magnetic flux current command are calculated based on the magnetic flux command and the torque command.

Further, the magnetic flux direction component voltage and the torque direction component voltage are calculated from the magnetic flux current command and the torque current command,
The current response speed can be increased by calculating the angle of the voltage vector with respect to the magnetic flux axis direction from the magnetic flux direction component voltage and the torque direction component voltage and adding the angle of the voltage vector to the slip frequency phase.

Next, a third embodiment of the present invention will be described with reference to FIGS. 6 and 7. In the third embodiment, the vector control calculation unit 50 includes the vector control command value calculation unit 21.
A voltage command calculation unit 22, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation rate calculation unit 25, a magnetic flux correction value calculation unit 26, a torque current control unit 53, a slip frequency integration unit 28, PWM voltage generator 29 and weighting factor calculator 54
And a d-axis current control unit 55 and a q-axis current control unit 56.

The vector control command value calculation unit 21, the voltage command calculation unit 22, the polar coordinate conversion unit 23, and the voltage fixing unit 24.
The operations of the modulation factor calculation unit 25, the magnetic flux correction value calculation unit 26, the slip frequency integration unit 28, and the PWM voltage generation unit 29 are the same as those in the first embodiment, and therefore description thereof will be omitted.

The weighting factor calculator 54 will be described with reference to FIG. The weighting factor calculation unit 54 includes a control mode switching determination unit 57.
And a change rate limiter 58.

In the control mode switching discrimination unit 57, the absolute value | ω ₁ | of the inverter angular frequency ω ₁ is input,
The control mode Cmode is output according to the following condition determination. The control mode is Cmode = 0 in the constant voltage control, and Cmode = 1 in the variable voltage control. When the current control mode is Cmode = 0,

[0070]

If | ω ₁ | ≧ ωCHG1, then Cmode = 1 if Cmode = 0 | ω ₁ | <ωCHG 1. When the current control mode is Cmode = 1,

[0071]

If | ω ₁ | ≧ ωCHG2, then Cmode = 1 if Cmode = 0 | ω ₁ | <ωCHG 2. However, ωCHG1 ≦ ωCHG2.

In the rate-of-change limit unit 58, the control mode Cmode output from the control mode switching determination unit 57 is output.
Is input, and a value limiting the rising / falling speed of Cmode is output as the weighting coefficient K1. The weight coefficient K2 descends / rises according to the rising / falling speed of the weight coefficient K1. When the control mode Cmode changes from 0 to 1 at t = 0, the weight coefficient K1 and the weight coefficient K2 change as follows, where the limit value of the change rate is a.

[0073]

When t <0: K1 = 0 K2 = 1 0 ≦ t <1 / a: K1 = a * t K2 = 1−a * t 1 / a ≦ t: K1 = 1 K2 = 0 Similarly when the control mode Cmode changes from 1 to 0 at t = 0,

[0074]

When t <0: K1 = 1 K2 = 0 When 0 ≦ t <1 / a: K1 = 1−a * t K2 = a * t 1 / a ≦ t: K1 = 0 K2 = 1 In the d-axis current controller 55, the weighting factor calculator 5 is added to the value obtained by subtracting the actual magnetic flux current value Id from the magnetic flux current command value IdRef output from the vector control command value calculator 21.
The value multiplied by the weighting coefficient K1 output from 4 is input,
The magnetic flux direction voltage correction value ΔVd is output by the proportional-plus-integral control represented by the following equation.

[0075]

(Equation 20) However, s: differential operator Gp: proportional gain, Gi: integral gain The output ΔVd of the d-axis current control unit 55 is the voltage command calculation unit 2
It is added to the magnetic flux direction voltage command VdRef output from 2 and input to the polar coordinate converter 23 as a new magnetic flux direction voltage command VdRef.

In the q-axis current control unit 56, a value obtained by subtracting the actual torque current value Iq from the torque current command value IqRef output from the vector control command value calculation unit 21
A value obtained by multiplying the weighting coefficient K1 output from the weighting coefficient calculation unit 54 is input, and the torque direction voltage correction value ΔVq is output by the proportional-plus-integral control represented by the following equation.

[0077]

(Equation 21) However, s: differential operator Gp: proportional gain, Gi: integral gain, the output ΔVq of the q-axis current control unit 56 is the voltage command calculation unit 2
It is added to the torque direction voltage command VqRef output from 2 and input to the polar coordinate conversion unit 23 as a new torque direction voltage command VqRef.

In the torque current control unit 53, the weighting coefficient output from the weighting coefficient calculation unit 54 is obtained by subtracting the actual torque current value Iq from the torque current command value IqRef output from the vector control command value calculation unit 21. A value obtained by multiplying K2 is input, and the slip frequency correction value Δωs is output by the proportional-plus-integral control represented by the following equation.

[0079]

(Equation 22) However, s: differential operator Kp: proportional gain, Ki: integral gain In the vector controller configured in this way, the variable voltage control is performed by gradually changing the weight at the time of transition between the variable voltage control and the fixed voltage control. And the fixed voltage control can be smoothly transferred.

Next, a fourth embodiment of the present invention will be described with reference to FIG. The fourth embodiment is the first embodiment except that the input and calculation of the magnetic flux correction value calculation unit 26 of the first embodiment are different.
This is the same as the embodiment.

The vector control arithmetic unit 60 of the fourth embodiment.
Is a vector control command value calculation unit 21, a voltage command calculation unit 22, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation factor calculation unit 25, a magnetic flux correction value calculation unit 61, and a torque current control unit 27. , A slip frequency integrator 28 and a PWM voltage generator 29.

In the magnetic flux correction value calculation unit 61, the magnitude | V | of the voltage vector output from the polar coordinate conversion unit 23.
Then, the magnitude | V | 'of the voltage vector output from the voltage fixing unit 24 and the inverter angular frequency ω ₁ are input, and the magnetic flux correction value ΔΦ is output by the following calculation.

[0083]

(Equation 23) The calculation in other components is the same as in the first embodiment.
In the vector control device configured in this manner, the torque current command and the magnetic flux current command are calculated from the magnetic flux command and the torque command, and the magnetic flux direction component voltage and the torque direction component voltage are calculated from the magnetic flux current command and the torque current command. The magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and when the magnitude of the voltage vector is fixed, the magnitude of the second voltage vector is calculated. By outputting the magnitude of a predetermined fixed voltage vector and adding the angle of the voltage vector to the slip frequency phase, the current response speed can be increased, and the magnitude of the first voltage vector and the second voltage vector can be increased. Error from the magnetic flux command generated when the magnitude of the second voltage vector is fixed to the magnitude of the fixed voltage vector. Calculating a magnetic flux correction value for correcting, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A fifth embodiment of the present invention will be described with reference to FIGS. 9 to 10. FIG. 9 is a block diagram of the vector control calculation unit of the vector control device for the induction motor of the fifth embodiment.

The vector control calculation unit 70 includes a vector control command calculation unit 21, a voltage command calculation unit 71, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation factor calculation unit 25, and a magnetic flux correction value calculation unit 72. A torque current control unit 73, a slip frequency integration unit 74, and a PWM voltage generation unit 75.

In the vector control command value calculation unit 21, the sum of the magnetic flux command ΦRef and the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation unit 72, which will be described later, and the torque command value TorqRef.
Is input, and the magnetic flux current command IdRe is calculated by the following equation.
f, torque current command IqRef, slip frequency command ωsRef
Is output.

[0087]

(Equation 24)

However, M: mutual inductance L ₂ : secondary inductance R ₂ : secondary resistance In the voltage command calculation unit 71, the magnetic flux current command IdRef and the torque current command IqRef output from the vector control command value calculation unit 21 are calculated. As an input, the magnetic flux axis voltage command VdRef and the torque axis voltage command VqRef are obtained and output by the calculation of the following equations.

[0089]

VdRef = R ₁ * IdRef −ω ₁ * σ * L ₁ * IqRef VqRef = R ₁ * IqRef + ω ₁ * L ₁ * IqRef where R ₁ : primary resistance, R ₂ : secondary resistance L ₁ : Primary inductance, L ₂ : Secondary inductance M: Mutual inductance σ: 1-M ² / (L ₁ * L ₂ ) ω ₁ : Inverter angular frequency In the polar coordinate converter 23, the magnetic flux output from the voltage command calculator 71. By inputting the directional voltage command VdRef and the torque directional voltage command VqRef, the magnitude | V | of the voltage vector and the angle δ of the voltage vector with respect to the magnetic flux axis direction are output by the calculation of the following equation.

[0090]

(Equation 26) The voltage fixing unit 24 receives the voltage vector magnitude | V | output from the polar coordinate converter 23, the command value | V | Ref of the voltage vector magnitude, and the voltage fixing command Vfix as input, and the voltage fixing command Vfix. Then, the magnitude | V | 'of the new voltage vector is calculated and output.

The voltage fixing unit 24 operates so as to fix the command value | V | Ref of the voltage vector size when the voltage vector size | V | exceeds a predetermined value. The voltage fixing command Vfix is "1" when the magnitude of the voltage vector is fixed to the command value | V | Ref, and "0" when the magnitude of the voltage vector is not fixed to the command value | V | Ref. If the voltage fixing command Vfix is 1, | V | '= | V | Ref If the voltage fixing command Vfix is 0, | V |' = | V depending on the value of the voltage fixing command Vfix. Output |.

The magnetic flux correction value calculation unit 72 includes a voltage fixing unit 24.
Magnitude | V | 'of the voltage vector output from the polar coordinate converter 23 and the magnitude | V of the voltage vector output from the polar coordinate converter 23.
Using | and as inputs, the magnetic flux correction value ΔΦ is calculated by the following calculation.

[0093]

[Equation 27] However, s: differential operator Gp: proportional gain Gi: integral gain The torque current control unit 73 is a vector control command value calculation unit 2
The torque current command IqRef output from 1 and the actual torque current value Iq are input, and the magnetic flux angle correction value Δθr is output by the proportional-plus-integral control represented by the following equation.

[0094]

[Equation 28] However, s: differential operator Kp: proportional gain Ki: integral gain In the slip frequency integrator 74, the slip frequency command value ωsRe output from the vector control command value calculator 21.
With f as input, the integrated value of the slip frequency phase θs
Output as

[0095]

(Equation 29) However, s: differential operator In the modulation factor calculation unit 25, the magnitude | V | 'of the voltage vector output from the voltage fixing unit 24 and the PWM inverter DC link voltage Vdc are input, and the modulation factor is calculated by the following calculation. Calculate α.

[0096]

[Equation 30] The PWM voltage generator 75 will be described with reference to FIG. PW
In the M voltage generator 75, the slip frequency integrator 74
From the slip frequency phase θs, the magnetic flux angle correction value Δθr output from the torque current control unit 73, the rotor phase θr, and the voltage vector angle δ output from the polar coordinate conversion unit 23. Inverter phase θ ₁
And the modulation factor α output from the modulation factor calculator 25 and the pulse mode command Pmode as input, the three-phase P
It outputs WM voltage commands VuPWM, VvPWM, VwPWM.

The operation when the pulse mode command is 1 will be described. Using the input inverter phase θ ₁ ,
The inverter phases θu, θv, and θw of each UVW phase are calculated by the following equation.

[0098]

Θu = θ ₁ + π / 2 θv = θ ₁ + π / 2-2π / 3 θw = θ ₁ + π / 2-4π / 3 U-phase inverter phase θu is input to the phase PWM voltage generator 31. U phase PWM voltage command VuPW
Output M.

[0099]

(Equation 32) Similarly, V-phase PWM voltage command VvPWM, W-phase voltage command Vw
The PWM is output by the phase PWM voltage generator 31 as follows.

[0100]

[Equation 33]

Next, the operation of the phase PWM voltage generator 31 when the pulse mode command is 3 will be described. According to the relationship between the on / off phase θ _SW of the PWM voltage and the modulation rate α, which is calculated and stored in advance, the phase PWM voltage is calculated using the on / off phase θ _SW that differs depending on the modulation rate α. Modulation rate α
And the on / off phase θ _SW of the PWM voltage are as follows, for example.

[0102]

(Equation 34) Then, by comparing the phase of θ _SW with the U-phase voltage phase θu,
The U-phase PWM voltage command is obtained as follows.

[0103]

(Equation 35) Similarly, V-phase PWM voltage command VvPWM, W-phase voltage command Vw
The PWM is output by the phase PWM voltage generator 31 as follows.

[0104]

[Equation 36]

Similarly, also in other pulse modes, the phase PWM voltage command is determined and output by comparing the PWM voltage on / off phase stored corresponding to the modulation rate with each phase voltage phase.

In the vector controller thus constructed, the torque current command and the magnetic flux current command are calculated from the magnetic flux command and the torque command, and the magnetic flux direction component voltage and the torque direction component are calculated from the magnetic flux current command and the torque current command. The first voltage is calculated from the magnetic flux direction component voltage and the torque direction component voltage.
Of the voltage vector and the angle of the voltage vector with respect to the direction of the magnetic flux axis, and when fixing the voltage vector size, a predetermined fixed voltage vector size is output as the second voltage vector size. The current response speed can be increased by adding the angle of the vector to the rotor rotation angle phase, and from the magnitude of the second voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, The output torque is calculated by calculating the magnetic flux correction value that corrects the error from the magnetic flux command generated when the size of the voltage vector of 2 is fixed to the fixed voltage vector, and adding the magnetic flux correction value to the magnetic flux command. The command value can be followed.

The sixth embodiment of the present invention will be described with reference to FIG. FIG. 11 is a configuration diagram of the vector control calculation unit of the vector control device for the induction motor of the sixth embodiment.

The vector control calculation unit 80 includes a vector control command calculation unit 81, a voltage command calculation unit 71, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation factor calculation unit 25, and a magnetic flux correction value calculation unit 72. It is composed of a secondary resistance correction value calculation unit 82, a slip frequency integration unit 74, and a PWM voltage generation unit 75.

In this configuration, the voltage command calculator 71
The polar coordinate conversion unit 23, the voltage fixing unit 24, the modulation rate calculation unit 25, the magnetic flux correction value calculation unit 72, the slip frequency integration unit 74, and the PWM voltage generation unit 75 operate in the same manner as in the fifth embodiment. Therefore, the description is omitted.

In the vector control command value calculation unit 81, the sum of the magnetic flux command ΦRef and the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation unit 72, the torque command value TorqRef, and the secondary resistance correction value calculation unit described later. The secondary resistance correction value ΔR2, which is the output of 82, is input, and the magnetic flux current command IdRef, the torque current command IqRef, and the slip frequency command ωsRef are output by the following equations.

[0111]

(37)

However, M: Mutual inductance L ₂ : Secondary inductance R ₂ : Secondary resistance The secondary resistance correction value calculation unit 82 calculates the torque current command IqRef and the actual torque current output from the vector control command value calculation unit 81. The secondary resistance correction value ΔR2 is output by the proportional-integral control represented by the following equation using the value Iq as an input.

[0113]

(38) However, s: Derivative operator Kp: Proportional gain Ki: Integral gain In the vector controller configured in this way, the torque current command and the magnetic flux current command are calculated from the magnetic flux command and the torque command, and the magnetic flux current command and the torque are calculated. The magnetic flux direction component voltage and the torque direction component voltage are calculated from the current command, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the voltage is calculated. When fixing the magnitude of the vector, a predetermined magnitude of the fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the second voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, The output torque is calculated by calculating a magnetic flux correction value that corrects an error between the second voltage vector and the magnetic flux command caused by the fixed voltage vector being fixed, and adding the magnetic flux correction value to the magnetic flux command. Can be made to follow the command value.

Next, a seventh embodiment of the present invention will be described with reference to FIGS. In the seventh embodiment, the vector control calculation unit 90 includes a vector control command value calculation unit 2
1, a voltage command calculation unit 71, a polar coordinate conversion unit 23, a voltage fixing unit 24, a modulation rate calculation unit 25, a magnetic flux correction value calculation unit 72, a torque current control unit 91, and a slip frequency integration unit 74. , PWM voltage generator 75 and weighting factor calculator 9
2, a d-axis current control unit 93, and a q-axis current control unit 94.

The vector control command value calculation unit 21, the voltage command calculation unit 71, the polar coordinate conversion unit 23, and the voltage fixing unit 24.
The operations of the modulation rate calculation unit 25, the magnetic flux correction value calculation unit 72, the slip frequency integration unit 74, and the PWM voltage generation unit 75 are the same as those in the fifth embodiment, and therefore description thereof will be omitted.

The weighting factor calculator 92 will be described with reference to FIG. The weighting factor calculation unit 92 includes a control mode switching determination unit 9
5 and a change rate limiter 96.

In the control mode switching discrimination section 95, the absolute value | ω ₁ | of the inverter angular frequency ω ₁ is input,
The control mode Cmode is output according to the following condition determination. The control mode is Cmode = 0 in the constant voltage control, and Cmode = 1 in the variable voltage control. When the current control mode is Cmode = 0,

[0118]

If | ω ₁ | ≧ ωCHG1, then Cmode = 1 if Cmode = 0 | ω ₁ | <ωCHG1. When the current control mode is Cmode = 1,

[0119]

If | ω ₁ | ≧ ωCHG2, then Cmode = 1 if Cmode = 0 | ω ₁ | <ωCHG2. However, ωCHG1 ≦ ωCHG2.

In the change rate limiter 96, the control mode Cmode output from the control mode switching determiner 95 is output.
Is input, and a value limiting the rising / falling speed of Cmode is output as the weighting coefficient K1. The weight coefficient K2 descends / rises according to the rising / falling speed of the weight coefficient K1. When the control mode Cmode changes from 0 to 1 at t = 0, the weight coefficient K1 and the weight coefficient K2 change as follows, where the limit value of the change rate is a.

[0121]

When t <0: K1 = 0 K2 = 1 0 ≦ t <1 / a: K1 = a * t K2 = 1−a * t 1 / a ≦ t: K1 = 1 K2 = 0 Similarly when the control mode Cmode changes from 1 to 0 at t = 0,

[0122]

When t <0: K1 = 1 K2 = 0 When 0 ≦ t <1 / a: K1 = 1−a * t K2 = a * t 1 / a ≦ t: K1 = 0 K2 = 1 In the d-axis current controller 93, the weighting factor calculator 9 is added to the value obtained by subtracting the actual magnetic flux current value Id from the magnetic flux current command value IdRef output from the vector control command value calculator 21.
The value multiplied by the weighting coefficient K1 output from 2 is input,
The magnetic flux direction voltage correction value ΔVd is output by the proportional-plus-integral control represented by the following equation.

[0123]

[Equation 43] However, s: differential operator Gp: proportional gain, Gi: integral gain The output ΔVd of the d-axis current controller 93 is the voltage command calculator 7
1 is added to the magnetic flux direction voltage command VdRef output from the first magnetic flux direction voltage command VdRef and is input to the polar coordinate converter 23 as a new magnetic flux direction voltage command VdRef.

In the q-axis current control unit 94, a value obtained by subtracting the actual torque current value Iq from the torque current command value IqRef output from the vector control command value calculation unit 21
A value obtained by multiplying the weighting coefficient K1 output from the weighting coefficient calculation unit 92 is input, and the torque direction voltage correction value ΔVq is output by the proportional-plus-integral control represented by the following equation.

[0125]

[Equation 44] However, s: differential operator Gp: proportional gain, Gi: integral gain, and the output ΔVq of the q-axis current control unit 94 is the voltage command calculation unit 7.
1 is added to the torque direction voltage command VqRef output from No. 1 and is input to the polar coordinate conversion unit 23 as a new torque direction voltage command VqRef.

In the torque current control section 91, the weighting coefficient output from the weighting coefficient calculation section 92 is a value obtained by subtracting the actual torque current value Iq from the torque current command value IqRef output from the vector control command value calculation section 21. A value obtained by multiplying K2 is input, and the magnetic flux angle correction value Δθr is output by the proportional-plus-integral control represented by the following equation.

[0127]

[Equation 45] However, s: Derivative operator Kp: Proportional gain, Ki: Integral gain In the vector controller configured in this way, a torque current command and a magnetic flux current command are calculated from the magnetic flux command and the torque command, and the magnetic flux current command is calculated. The magnetic flux direction component voltage and the torque direction component voltage are calculated from the torque current command, and the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage. When fixing the magnitude of the voltage vector, the magnitude of the predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. The second voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency. The output torque is calculated by calculating a magnetic flux correction value that corrects an error between the second voltage vector and the magnetic flux command caused by the fixed voltage vector being fixed, and adding the magnetic flux correction value to the magnetic flux command. Can be made to follow the command value.

Further, when the variable voltage control and the fixed voltage control are changed, the weight is gradually changed, so that the variable voltage control and the fixed voltage control can be smoothly changed.

[0129]

Therefore, the vector control device for an induction motor according to claim 1 of the present invention calculates a torque current command and a magnetic flux current command from the magnetic flux command and the torque command to generate the magnetic flux current command and the torque current command. Magnetic flux direction component voltage and torque direction component voltage are calculated, the angle of the voltage vector with respect to the magnetic flux axis direction is calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the angle of this voltage vector is added to the slip frequency phase. Can increase the current response speed.

A vector controller for an induction motor according to a second aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the current response speed can be increased by adding the angle of the voltage vector to the slip frequency phase. , The angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the pressure vector, it can be made to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to claim 3 of the present invention includes a magnetic flux command, a torque command, a rotor angular frequency, and a voltage fixing command for determining whether or not to fix the magnitude of the voltage vector. From the magnitude of the fixed voltage vector, when fixing the magnitude of the voltage vector, the torque current instruction and the magnetic flux current instruction are calculated based on the torque instruction, the rotor angular frequency, and the magnitude of the fixed voltage vector, and the fixed voltage vector The output torque is made to follow the command value by correcting the error with the magnetic flux command caused by the fixed size. When the magnitude of the voltage vector is not fixed, the torque current command and the magnetic flux current command are calculated based on the magnetic flux command and the torque command.

Further, the magnetic flux direction component voltage and the torque direction component voltage are calculated from the magnetic flux current command and the torque current command,
The current response speed can be increased by calculating the angle of the voltage vector with respect to the magnetic flux axis direction from the magnetic flux direction component voltage and the torque direction component voltage and adding the angle of the voltage vector to the slip frequency phase.

In the vector controller for an induction motor according to the fourth aspect of the present invention, the transition between the variable voltage control and the fixed voltage control is performed by gradually changing the weight at the transition between the variable voltage control and the fixed voltage control. Do it smoothly.

A vector controller for an induction motor according to a fifth aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Sometimes, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the current response speed can be increased by adding the angle of the voltage vector to the slip frequency phase. , And the magnitude of the second voltage vector, the magnitude of the second voltage vector is fixed to the magnitude of the fixed voltage vector. The error between the magnetic flux command calculating a flux correction value for correcting occurring Te, can be made to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to a sixth aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to a seventh aspect of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

A vector controller for an induction motor according to claim 8 of the present invention calculates a torque current command and a magnetic flux current command from a magnetic flux command and a torque command, and calculates a magnetic flux direction component from the magnetic flux current command and the torque current command. The voltage and the torque direction component voltage are calculated, the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction are calculated from the magnetic flux direction component voltage and the torque direction component voltage, and the magnitude of the voltage vector is fixed. Occasionally, the magnitude of a predetermined fixed voltage vector is output as the magnitude of the second voltage vector, and the angle of the voltage vector is added to the rotor rotation angle phase to increase the current response speed. From the magnitude of the voltage vector, the angle of the voltage vector, the torque direction component voltage, and the inverter angular frequency, the magnitude of the second voltage vector is fixed. Calculating a magnetic flux correction value for correcting the error between the magnetic flux command generated by fixed to the magnitude of the voltage vector, it is possible to follow the output torque command value by adding the flux correction value to the magnetic flux instruction.

Further, when the variable voltage control and the fixed voltage control are changed, the weight is gradually changed, so that the variable voltage control and the fixed voltage control can be smoothly changed.

A vector control method for an induction motor according to a ninth aspect of the present invention calculates a torque current command and a magnetic flux current command from a torque command and a magnetic flux command, and calculates a voltage vector from the torque current command and the magnetic flux current command. The current response speed can be increased by calculating the command value and adding the angle of this voltage vector command value with respect to the magnetic flux direction to the inverter voltage command phase.

In the vector control method for an induction motor according to claim 10 of the present invention, when the voltage of the power converter is fixed at a predetermined value, the torque current command and the magnetic flux current command are calculated from the torque command and the magnetic flux command. Then, the voltage vector command value is calculated from the torque current command and the magnetic flux current command, and is calculated from the difference between the magnitude of this voltage vector command value and the voltage vector when the voltage of the power converter is fixed at a predetermined value. By adding the magnetic flux correction value to the magnetic flux command, the output torque can be made to follow the command value.

[Brief description of drawings]

FIG. 1 is a functional block diagram of a vector control calculation unit according to a first embodiment.

FIG. 2 is a functional block diagram of a magnetic flux correction value calculation unit in the first embodiment.

FIG. 3 is a functional block diagram of a PWM voltage generator according to the first embodiment.

FIG. 4 is a pulse waveform diagram in the first embodiment.

FIG. 5 is a functional block diagram of a vector control calculation unit according to a second embodiment.

FIG. 6 is a functional block diagram of a vector control calculation unit according to a third embodiment.

FIG. 7 is a functional block diagram of a weight coefficient calculation unit in the third embodiment.

FIG. 8 is a functional block diagram of a vector control calculation unit according to a fourth embodiment.

FIG. 9 is a functional block diagram of a vector control calculation unit according to a fifth embodiment.

FIG. 10 is a functional block diagram of a PWM voltage generator in the fifth embodiment.

FIG. 11 is a functional block diagram of a vector control calculation unit according to a sixth embodiment.

FIG. 12 is a functional block diagram of a vector control calculation unit according to a seventh embodiment.

FIG. 13 is a functional block diagram of a weight coefficient calculation unit in the seventh embodiment.

FIG. 14 is a functional block diagram of a vector control calculation unit of a conventional induction motor.

[Explanation of symbols]

20, 40, 50, 60, 70, 80, 90, ... Vector control calculation unit 21, 81 ... Vector control command value calculation unit 22, 71 ... Voltage command calculation unit 23 ... Polar coordinate conversion unit 24 ... Voltage fixing unit 25 ... Modulation Rate calculation unit 26, 72 ... Magnetic flux correction value calculation unit 27, 53, 73, 91 ... Torque current control unit 28, 74 ... Slip frequency integration unit 29, 75 ... PWM voltage generation unit 54, 92 ... Weighting coefficient calculation unit 55, 93 ... d-axis current control unit 56, 94 ... q-axis current control unit 82 ... secondary resistance correction value calculation unit

Claims (10)

[Claims] 1. A vector controller for an induction motor for controlling magnetic flux and torque of an induction motor via a power converter, wherein a torque current command, a magnetic flux current command and a slip frequency command are based on a magnetic flux command and a torque command. And a vector control command value calculation unit for calculating the magnetic flux direction component voltage and the torque direction component voltage with the magnetic flux current command and the torque current command output from the vector control command value calculation unit as inputs. The calculation unit and the magnetic flux direction component voltage and the torque direction component voltage which are the outputs of the voltage command calculation unit are input,
A polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction, the magnitude of the voltage vector output from this polar coordinate conversion unit, and the DC link voltage of the power conversion device as input, and the power A modulation rate calculation unit for calculating the modulation rate of the conversion device, and a torque current control unit for calculating a slip frequency correction value by inputting the torque current command and the torque component current actual value output from the vector control command value calculation unit. And a slip frequency integrating unit that integrates the sum of the slip frequency command output from the vector control command value calculation unit and the slip frequency correction value output from the torque current control unit, and outputs that value as the slip frequency phase. A pulse mode command, the modulation rate output from the modulation rate calculation unit, the angle of the voltage vector output from the polar coordinate conversion unit, and A vector of an induction motor, comprising: a PWM voltage generation unit that inputs a sum of a slip frequency phase output from a slip frequency integration unit and a rotor phase and outputs a PWM voltage command of the power conversion device. Control device. 2. A vector controller for an induction motor for controlling a magnetic flux and a torque of an induction motor via a power converter, wherein a torque current command and a magnetic flux command are generated based on a magnetic flux command, a torque command and a magnetic flux correction value described later. A vector control command value calculation unit that calculates a current command and a slip frequency command, and a magnetic flux current command and a torque current command that are outputs of the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a magnetic flux direction component voltage and a torque direction component voltage, which are outputs of the voltage command calculation unit, as inputs, and the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction. , A magnitude of a first voltage vector output from the polar coordinate transformation unit, a magnitude of a predetermined fixed voltage vector, and a first voltage vector. A voltage fixing command for determining whether to set the size of the torque or the size of the fixed voltage vector, and a voltage fixing unit that outputs a new second voltage vector size according to the voltage fixing command; The magnitude of the second voltage vector output from the voltage fixing unit, the angle of the voltage vector output from the polar coordinate conversion unit, the torque direction component voltage output from the voltage command calculation unit, and the inverter angular frequency. Is input to calculate a magnetic flux correction value for correcting an error between the second voltage vector and the magnetic flux command caused by the fixed voltage vector being fixed to the vector control command value calculation unit. And a DC link voltage of the power converter, which are input to the power converter. A modulation factor calculation unit for calculating the modulation factor of the device, and a torque current control unit for calculating the slip frequency correction value by inputting the torque current command and the torque component current actual value output from the vector control command value calculation unit. A slip frequency integrator that integrates the sum of the slip frequency command output from the vector control command value calculator and the slip frequency correction value output from the torque current controller, and outputs that value as the slip frequency phase. A pulse mode command, a modulation rate output from the modulation rate calculation unit, an angle of a voltage vector output from the polar coordinate conversion unit, and a slip frequency phase and a rotor phase output from the slip frequency integration unit. A vector control device for an induction motor, comprising: a PWM voltage generator that receives a sum as an input and outputs a PWM voltage command for the power converter. 3. A vector controller for an induction motor for controlling magnetic flux and torque of an induction motor via a power converter, wherein a magnetic flux command, a torque command, a rotor angular frequency and a magnitude of a voltage vector are fixed. Input voltage fixed command to decide whether to do or not, and the size of the predetermined fixed voltage vector.When fixing the size of the voltage vector, based on the torque command, the rotor angular frequency and the size of the fixed voltage vector. A vector that outputs the torque current command, the magnetic flux current command, and the slip frequency command, and outputs the torque current command, the magnetic flux current command, and the slip frequency command based on the magnetic flux command and the torque command when the magnitude of the voltage vector is not fixed. The control command value calculation unit and the magnetic flux current command and the torque current command output from the vector control command value calculation unit are input, and the magnetic flux direction component voltage and A voltage command calculation unit that calculates a torque direction component voltage, and a magnetic flux direction component voltage and a torque direction component voltage that are outputs of the voltage command calculation unit are input,
A polar coordinate conversion unit that calculates the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction, the magnitude of the voltage vector output from this polar coordinate conversion unit, and the DC link voltage of the power conversion device as input, and the power A modulation rate calculation unit for calculating the modulation rate of the conversion device, and a torque current control unit for calculating a slip frequency correction value by inputting the torque current command and the torque component current actual value output from the vector control command value calculation unit. And a slip frequency integrating unit that integrates the sum of the slip frequency command output from the vector control command value calculation unit and the slip frequency correction value output from the torque current control unit, and outputs that value as the slip frequency phase. A pulse mode command, the modulation rate output from the modulation rate calculation unit, the angle of the voltage vector output from the polar coordinate conversion unit, and A vector of an induction motor, comprising: a PWM voltage generation unit that inputs a sum of a slip frequency phase output from a slip frequency integration unit and a rotor phase and outputs a PWM voltage command of the power conversion device. Control device. 4. A vector controller for an induction motor for controlling the magnetic flux and torque of an induction motor via a power converter, wherein a torque current command and a flux current command are generated based on a magnetic flux command, a torque command and a magnetic flux correction value described later. A vector control command value calculation unit that calculates a current command and a slip frequency command, and a magnetic flux current command and a torque current command that are outputs of the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a voltage command calculation unit that calculates a first weighting coefficient and a second weighting coefficient by using the inverter angular frequency as an input, and a magnetic flux current output from the vector control command value calculation unit. A d-axis voltage control unit that calculates a magnetic flux direction voltage correction value by inputting a value obtained by multiplying the difference between the command and the actual magnetic flux current value by the first weighting coefficient output from the weighting coefficient calculation unit And a value obtained by multiplying the difference between the torque current command output from the vector control command value calculation unit and the actual torque current value by the first weighting coefficient output from the weighting coefficient calculation unit, as input. A q-axis voltage control unit for calculating and outputting a correction value; a sum of a magnetic flux direction component voltage output by the voltage command calculation unit and a magnetic flux direction voltage correction value output by the d-axis current control unit; The torque direction component voltage output from the voltage command calculation unit and the sum of the torque direction component voltage correction values output from the q-axis current control unit are input, and the magnitude of the first voltage vector and the voltage vector in the magnetic flux axis direction are input. Of the polar coordinate conversion unit, the magnitude of the first voltage vector output from the polar coordinate transformation unit, the magnitude of a predetermined fixed voltage vector, and the magnitude of the first voltage vector or the fixed voltage vector. As an input and a voltage fixing command to determine whether the magnitude of the Le, a voltage fixing section for outputting the magnitude of the second voltage vector new in accordance with the voltage fixing command, the output from the voltage clamp unit 2
Of the second voltage vector, the magnitude of the voltage vector of the second voltage vector, the angle of the voltage vector output from the polar coordinate conversion unit, the torque direction component voltage output from the voltage command calculation unit, and the inverter angular frequency. A magnetic flux correction value calculation unit that calculates a magnetic flux correction value that corrects an error from the magnetic flux command that occurs when the size is fixed to the size of the fixed voltage vector and outputs the calculated value to the vector control command value calculation unit; A modulation factor calculation unit that calculates the modulation factor of the power conversion device by inputting the magnitude of the second voltage vector output from the fixed unit and the DC link voltage of the power conversion device, and the vector control command value calculation unit The value obtained by multiplying the difference between the torque current command output from the above and the actual torque component current value by the second weighting coefficient output from the weighting coefficient calculation unit is input, and the slip frequency A torque current control unit that calculates a positive value, a sum of a slip frequency command output from the vector control command value calculation unit and a slip frequency correction value output from the torque current control unit are integrated, and the value is slipped. A slip frequency integrator that outputs as a frequency phase, a pulse mode command, a modulation factor that is output from the modulation factor calculator, an angle of a voltage vector that is output from the polar coordinate converter, and the slip frequency integrator. A vector control device for an induction motor, comprising: a PWM voltage generator that receives a sum of a slip frequency phase and a rotor phase and outputs a PWM voltage command of the power converter. 5. A vector controller for an induction motor for controlling the magnetic flux and torque of an induction motor via a power converter, wherein a torque current command and a magnetic flux command are generated based on a magnetic flux command, a torque command and a magnetic flux correction value described later. A vector control command value calculation unit that calculates a current command and a slip frequency command, and a magnetic flux current command and a torque current command that are outputs of the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a magnetic flux direction component voltage and a torque direction component voltage, which are outputs of the voltage command calculation unit, as inputs, and the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction. , A magnitude of a first voltage vector output from the polar coordinate transformation unit, a magnitude of a predetermined fixed voltage vector, and a first voltage vector. A voltage fixing command for determining whether to set the size of the torque or the size of the fixed voltage vector, and a voltage fixing unit that outputs a new second voltage vector size according to the voltage fixing command; The magnitude of the first voltage vector output from the polar coordinate conversion unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the inverter angular frequency are input, and the magnitude of the second voltage vector is input. , A magnetic flux correction value calculating unit for calculating a magnetic flux correction value for correcting an error from a magnetic flux command generated by being fixed to the magnitude of the fixed voltage vector, and outputting it to the vector control command value calculating unit; and the voltage fixing unit. A magnitude of the second voltage vector output from the power converter and a DC link voltage of the power converter, and a modulation factor calculator for calculating a modulation factor of the power converter; A torque current control unit that calculates a slip frequency correction value by inputting a torque current command and a torque component current actual value output from the torque control command value calculation unit, and a slip frequency output from the vector control command value calculation unit. The sum of the command and the slip frequency correction value output from the torque current control unit is integrated, and the slip frequency integration unit that outputs the value as the slip frequency phase, the pulse mode command, and the modulation ratio calculation unit are output. Modulation ratio, the angle of the voltage vector output from the polar coordinate converter, and the sum of the slip frequency phase and the rotor phase output from the slip frequency integrator, and the PWM voltage command of the power converter is input. A vector control device for an induction motor, comprising: a PWM voltage generator for outputting. 6. A vector controller for an induction motor for controlling a magnetic flux and a torque of an induction motor via a power converter, wherein a torque current command and a flux current command are generated based on a magnetic flux command, a torque command and a magnetic flux correction value described later. A vector control command value calculation unit that calculates a current command and a slip frequency command, and a magnetic flux current command and a torque current command that are outputs of the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a magnetic flux direction component voltage and a torque direction component voltage, which are outputs of the voltage command calculation unit, as inputs, and the magnitude of the first voltage vector and the angle of the voltage vector with respect to the magnetic flux axis direction. , A magnitude of a first voltage vector output from the polar coordinate transformation unit, a magnitude of a predetermined fixed voltage vector, and a first voltage vector. A voltage fixing command for determining whether to set the size of the torque or the size of the fixed voltage vector, and a voltage fixing unit that outputs a new second voltage vector size according to the voltage fixing command; With the magnitude of the first voltage vector output from the polar coordinate conversion unit and the magnitude of the second voltage vector output from the voltage fixing unit as inputs, the magnitude of the second voltage vector is the fixed voltage vector. A magnetic flux correction value calculation unit that calculates a magnetic flux correction value that corrects an error from the magnetic flux command that is generated due to being fixed to a size, and outputs the calculated magnetic flux correction value to the vector control command value calculation unit; 2 is used as an input, the magnitude of the voltage vector and the DC link voltage of the power converter, and a modulation factor calculator for calculating the modulation factor of the power converter, and the vector control command value calculator. As inputs and an output torque current command and the torque component current actual value,
A torque current control unit that calculates a magnetic flux angle correction value, a slip frequency integrator that integrates the slip frequency command output from the vector control command value calculator, and outputs the value as a slip frequency phase, and a pulse mode command. A modulation rate output from the modulation rate calculation section, an angle of a voltage vector output from the polar coordinate conversion section, a slip frequency phase output from the slip frequency integration section, and a magnetic flux output from the torque current control section. PW which inputs the sum of the angle correction value and the rotor phase and outputs the PWM voltage command of the power converter
A vector controller for an induction motor, comprising: an M voltage generator. 7. A vector controller for an induction motor for controlling a magnetic flux and a torque of an induction motor via a power converter, wherein a magnetic flux command, a torque command, a magnetic flux correction value described later, and a secondary resistance correction value described later are provided. Based on this, a vector control command value calculation unit that calculates a torque current command, a magnetic flux current command, and a slip frequency command, and a torque current command and an actual torque component current value that are the outputs of this vector control command value calculation unit are input. A secondary resistance correction value calculation unit for calculating a secondary resistance correction value, and a magnetic flux current command and a torque current command output from the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a magnetic flux direction component voltage and a torque direction component voltage, which are outputs of the voltage command calculation unit, as inputs, and the magnitude of the first voltage vector and the magnetic flux axis. A polar coordinate conversion unit that calculates the angle of the voltage vector with respect to the direction, the magnitude of the first voltage vector that is the output of this polar coordinate transformation unit, the magnitude of the predetermined fixed voltage vector, and the magnitude of the first voltage vector. Of the fixed voltage vector and a voltage fixing command for determining whether to set the magnitude of the fixed voltage vector as an input, and a voltage fixing unit that outputs a new second voltage vector size according to the voltage fixing command, and the polar coordinate conversion unit. The magnitude of the second voltage vector is fixed to the magnitude of the fixed voltage vector with the magnitude of the first voltage vector, which is the output, and the magnitude of the second voltage vector output from the voltage fixing unit as inputs. From a magnetic flux correction value calculation unit that calculates a magnetic flux correction value that corrects an error from a magnetic flux command that occurs due to The first has been a force 2
The input of the magnitude of the voltage vector and the DC link voltage of the power converter, a modulation factor calculator for calculating the modulation factor of the power converter, and a slip frequency command output from the vector control command value calculator. The slip frequency integrator that integrates and outputs the value as the slip frequency phase, the pulse mode command, the modulation ratio output from the modulation ratio calculator, the angle of the voltage vector output from the polar coordinate converter, and the A vector of an induction motor, comprising: a PWM voltage generation unit that inputs a sum of a slip frequency phase output from a slip frequency integration unit and a rotor phase and outputs a PWM voltage command of the power conversion device. Control device. 8. A vector controller for an induction motor for controlling a magnetic flux and a torque of an induction motor via a power converter, wherein a torque current command and a flux current command are generated based on a magnetic flux command, a torque command and a magnetic flux correction value described later. A vector control command value calculation unit that calculates a current command and a slip frequency command, and a magnetic flux current command and a torque current command that are outputs of the vector control command value calculation unit are input, and a magnetic flux direction component voltage and a torque direction component voltage are input. And a voltage command calculation unit that calculates a first weighting coefficient and a second weighting coefficient by using the inverter angular frequency as an input, and a magnetic flux current output from the vector control command value calculation unit. A d-axis voltage control unit that calculates a magnetic flux direction voltage correction value by inputting a value obtained by multiplying the difference between the command and the actual magnetic flux current value by the first weighting coefficient output from the weighting coefficient calculation unit And a value obtained by multiplying the difference between the torque current command output from the vector control command value calculation unit and the actual torque current value by the first weighting coefficient output from the weighting coefficient calculation unit, as input. A q-axis voltage control unit for calculating and outputting a correction value; a sum of a magnetic flux direction component voltage output by the voltage command calculation unit and a magnetic flux direction voltage correction value output by the d-axis current control unit; The torque direction component voltage output from the voltage command calculation unit and the sum of the torque direction component voltage correction values output from the q-axis current control unit are input, and the magnitude of the first voltage vector and the voltage vector in the magnetic flux axis direction are input. Of the polar coordinate conversion unit, the magnitude of the first voltage vector output from the polar coordinate transformation unit, the magnitude of a predetermined fixed voltage vector, and the magnitude of the first voltage vector or the fixed voltage vector. A voltage fixing command for deciding whether or not to set the size of the voltage, a voltage fixing unit that outputs a new second voltage vector size according to the voltage fixing command, and a first voltage output from the polar coordinate conversion unit. Generated by fixing the magnitude of the second voltage vector to the magnitude of the fixed voltage vector by inputting the magnitude of the voltage vector and the magnitude of the second voltage vector output from the voltage fixing unit. A magnetic flux correction value calculating unit that calculates a magnetic flux correction value that corrects an error from the command and outputs the magnetic flux correction value to the vector control command value calculating unit, the magnitude of the second voltage vector output from the voltage fixing unit, and the power conversion. A DC link voltage of the device is input, and a modulation factor calculator for calculating the modulation factor of the power converter, a torque current command and a torque output from the vector control command value calculator. A torque current control unit that calculates a magnetic flux angle correction value by inputting a value obtained by multiplying the difference between the actual divided current value and the second weighting coefficient that is the output of the weighting coefficient calculation unit, and the vector control command value calculation unit A slip frequency integrator that outputs the value as a slip frequency phase, a pulse mode command, a modulation rate output from the modulation rate calculator, and a polar coordinate conversion section. The PWM of the power converter is input with the sum of the angle of the voltage vector, the slip frequency phase output from the slip frequency integration unit, the magnetic flux angle correction value output from the torque current control unit, and the rotor phase as input. A vector control device for an induction motor, comprising: a PWM voltage generator that outputs a voltage command. 9. A vector control method for an induction motor, which controls the magnetic flux and torque of the induction motor via a power converter, calculates a torque current command and a magnetic flux current command from the torque command and the magnetic flux command, and calculates the torque. A vector control method for an induction motor, wherein a voltage vector command value is calculated from a current command and a magnetic flux current command, and an angle of the voltage vector command value with respect to the magnetic flux direction is added to an inverter voltage command phase. 10. A vector control method for an induction motor for controlling magnetic flux and torque of an induction motor via a power converter, wherein when a voltage of the power converter is fixed at a predetermined value, a torque command and a magnetic flux command are given. Calculate a torque current command and a magnetic flux current command from the torque current command and a magnetic flux current command to calculate a voltage vector command value, and fix the magnitude of the voltage vector command value and the voltage of the power converter at a predetermined value. A vector control method for an induction motor, characterized in that a magnetic flux correction value calculated from a difference from a voltage vector at the time of performing is added to the magnetic flux command.