JPH1023780A5 - - Google Patents
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- JPH1023780A5 JPH1023780A5 JP1996192776A JP19277696A JPH1023780A5 JP H1023780 A5 JPH1023780 A5 JP H1023780A5 JP 1996192776 A JP1996192776 A JP 1996192776A JP 19277696 A JP19277696 A JP 19277696A JP H1023780 A5 JPH1023780 A5 JP H1023780A5
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Description
【０００１】
【発明の属する技術分野】
本発明は、可変電圧、可変周波数の交流電圧を出力して誘導電動機を可変速駆動するＰＷＭインバータによる誘導電動機の制御方法および制御装置に関する。[0001]
[Technical Field to which the Invention Belongs]
The present invention relates to a method and a control device for an induction motor using a PWM inverter that outputs an AC voltage with a variable voltage and a variable frequency to drive the induction motor at a variable speed .
【０００５】
【課題を解決するための手段】
上記課題を解決するために、誘導電動機の定格周波数、演算のためのサンプリング時間、３相正弦波を作るテーブルのデータ数に基づいて定格角速度をつくり、この定格角速度と加速時間（減速時間）から加速角速度（減速角速度）を演算し、サンプリング時間毎に加速角速度（減速角速度）を積算して過渡時角速度をつくり、過渡時角速度と定格角速度を比較し、過渡時角速度が定格角速度より小さい（大きい）時は過渡時角速度を用いて前記電動機を加速（減速）し、過渡時角速度が定格角速度より大きく（小さく）なった時は定格角速度を用いて定常運転に入るように前記電動機を制御する。
また、瞬時停電時の前記電動機の再投入に際して、前記電動機のトルク成分を検出し、トルク電流成分が同期投入設定電流より大きくなった時点から同期投入モードを選択し、トルク電流成分と同期投入許可電流の偏差が零になるように比例積分制御を行い、補正角速度をつくり、過渡時角速度から補正角速度を減算した値を角速度指令として、前記電動機に加える電圧と周波数を小さくし、トルク電流成分が同期投入許可電流より小さくなったとき、前記電動機を定格角速度まで上昇させる加速モードに移行する。
また、定常運転中に負荷等が大きくなった場合、前記電動機のトルク成分を検出し、トルク電流成分が同期投入設定電流より大きくなった時点から同期投入モードを選択し、トルク電流成分と同期投入許可電流の偏差が零になるように比例積分制御を行い、補正角速度をつくり、過渡時角速度から補正角速度を減算した値を角速度指令として、前記電動機に加える電圧と周波数を小さくし、前記電動機電流を減少させる。
また、前記電動機のトルク電流成分が負になり、さらに負の同期投入設定電流より小さくなった回生モードのとき、過渡時角速度に補正角速度を加算した値を角速度指令として、前記電動機に加える電圧と周波数を大きくする。[0005]
[Means for solving the problem]
To solve the above problems, a rated angular velocity is calculated based on the rated frequency of the induction motor, the sampling time for calculation, and the number of data in a table for creating a three-phase sine wave. An accelerating angular velocity (deceleration angular velocity) is calculated from this rated angular velocity and the acceleration time (deceleration time). The accelerating angular velocity (deceleration angular velocity) is integrated for each sampling time to calculate a transient angular velocity. The transient angular velocity and the rated angular velocity are compared, and when the transient angular velocity is smaller (larger) than the rated angular velocity, the motor is accelerated (decelerated) using the transient angular velocity, and when the transient angular velocity is larger (smaller) than the rated angular velocity, the motor is controlled to enter steady-state operation using the rated angular velocity.
Furthermore, when the motor is re-energized after a momentary power outage, the torque component of the motor is detected, and when the torque current component becomes larger than the set synchronizing current, a synchronizing mode is selected, proportional-integral control is performed so that the deviation between the torque current component and the synchronizing permission current becomes zero, a corrected angular velocity is generated, and the value obtained by subtracting the corrected angular velocity from the transient angular velocity is used as the angular velocity command to reduce the voltage and frequency applied to the motor, and when the torque current component becomes smaller than the synchronizing permission current, the motor is switched to an acceleration mode in which it is increased to the rated angular velocity.
Furthermore, if the load, etc., increases during steady-state operation, the torque component of the motor is detected, and when the torque current component becomes larger than the set synchronizing current, the synchronizing mode is selected, proportional-integral control is performed so that the deviation between the torque current component and the synchronizing permission current becomes zero, a corrected angular velocity is generated, and the value obtained by subtracting the corrected angular velocity from the transient angular velocity is used as the angular velocity command, thereby reducing the voltage and frequency applied to the motor and decreasing the motor current.
In addition, when the torque current component of the motor becomes negative and is smaller than the negative synchronous input set current, the voltage and frequency applied to the motor are increased using the value obtained by adding the correction angular velocity to the transient angular velocity as the angular velocity command.
【００１２】
また、図１の同期投入回路１４において、同期投入モードの信号すなわち補正角速度ωｓｕを角速度指令部９に出力したとき、図２の同期投入モード９−１２を駆動し、同期投入演算部９−１３で（数８）式を用いて過渡時角速度ω ｔｒｎ の演算を行う。この時、角速度演算ω１は加速時に使用した（数６）式で演算するので、減少する。詳細は同期投入回路（図７）において説明する。
【数８】
ωｔｒｎ＝ωｔｒｎ（ｎ−１）−ωｓｕ[0012]
Furthermore, when the synchronization circuit 14 in Fig. 1 outputs a synchronization mode signal, i.e., a corrected angular velocity ωsu, to the angular velocity command unit 9, the synchronization mode 9-12 in Fig. 2 is driven, and the synchronization calculation unit 9-13 calculates the transient angular velocity ωtrn using equation (8). At this time, the angular velocity calculation ω1 is calculated using equation ( 6 ) used during acceleration , so it decreases . Details will be explained in the synchronization circuit (Fig. 7).
##EQU00008##
ωtrn=ωtrn(n-1)−ωsu
【００１６】
いま、瞬時停電等で電動機がインバータから切り離され、フリーラン状態で回転数が低下したと仮定する。この状態でインバータの角速度指令ω１として定格角速度ωｄｅｆを選択▲１▼させる。この時インバータの角速度指令ωｄｅｆと電動機５の回転している角速度が▲１▼と▲３▼のようにずれているので、電動機電流Ｉｑｆは大きな値となる。その様子を図９により説明する。
（１）電動機がインバータから切り離され、フリーラン状態で回転数が低下したとき、インバータの角速度指令ω１として定格角速度ωｄｅｆをセット▲１▼する。
（２）図１の電流変換器１１は、電動機電流を回転座標軸ｄ−ｑ軸に変換し、同期投入回路１４ではこのトルク電流成分Ｉｑｆと励磁電流成分Ｉｄｆを取り込む。図７において、ｑ軸電流１４−１でトルク電流成分Ｉｑｆを取り出し、同期投入設定電流Ｉｅｓ１４−２とサンプリング時間毎に比較し、トルク電流成分Ｉｑｆが同期投入設定電流Ｉｅｓより大きくなった時点で同期投入モード▲２▼に入る。
（３）同期投入処理部１４−５は、後述する比例・積分制御を行い、同期投入処理を行って補正角速度ωｓｕを出力する。角速度指令部９の同期投入演算部９−１３では補正角速度ωｓｕを受けて、（数８）式を使用し、過渡時角速度ωｔｒｎの演算を行う。比較器９−１１は（数６）式を使用して、角速度指令ω１を出力する。このとき角速度指令ω１は同期投入処理部１４−５の比例・積分演算に従い、１次遅れの要素を含んで小さくなり、電動機５が回転している角速度に近づく。すなわち、図１０の▲２▼に示すように角速度指令ω１は定格角速度ωｄｅｆから電動機５の回転子が回転している角速度に高いところから近づいていき、ほぼ一致すると電動機のトルク電流成分Ｉｑｆは減少する。比較器１４−４はトルク電流成分Ｉｑｆと同期投入許可電流Ｉｐｅを比較し、トルク電流成分Ｉｑｆが同期投入許可電流Ｉｐｅより小さくなった時点▲３▼で加速モード▲４▼に切り替える。
（４）同期投入処理▲３▼を終了すると、補正角速度ωｓｕと同期投入積分項（後述する。）を零にする。この点は、図１０に示すように、過渡時角速度ωｔｒｎは定格角速度ωｄｅｆより小さくなっているので、角速度指令部９では加速モード▲４▼に入り、前述したように加速角速度ωａで加速する。
（５）そして、電動機５に与える過渡時角速度ωｔｒｎが定格角速度ωｄｅｆまで上昇すると、定常モード▲５▼に入る。[0016]
Now, let us assume that the motor is disconnected from the inverter due to a momentary power outage or the like, and its rotation speed drops in a free-running state. In this state, the rated angular speed ωdef is selected (1) as the inverter's angular speed command ω1. At this time, the inverter's angular speed command ωdef and the angular speed at which the motor 5 is rotating are misaligned as shown in (1) and (3), so the motor current Iqf becomes a large value. This situation will be explained using Figure 9.
(1) When the motor is disconnected from the inverter and the rotation speed drops in a free-running state, the rated angular speed ωdef is set as the angular speed command ω1 of the inverter (1).
(2) The current converter 11 in Fig. 1 converts the motor current into the d- and q-axes of the rotation coordinate system, and the torque current component Iqf and the excitation current component Idf are taken in by the synchronizing circuit 14. In Fig. 7, the torque current component Iqf is taken out from the q-axis current 14-1 and compared with the synchronizing set current Ies 14-2 at each sampling time. When the torque current component Iqf becomes larger than the synchronizing set current Ies, the synchronizing mode (2) is entered.
(3) The synchronization processing unit 14-5 performs proportional and integral control, which will be described later, performs synchronization processing, and outputs a corrected angular velocity ωsu. The synchronization calculation unit 9-13 of the angular velocity command unit 9 receives the corrected angular velocity ωsu and calculates the transient angular velocity ωtrn using equation (8). The comparator 9-11 outputs the angular velocity command ω1 using equation (6). At this time, the angular velocity command ω1 decreases, including a first-order lag element, in accordance with the proportional and integral calculation of the synchronization processing unit 14-5, and approaches the angular velocity at which the motor 5 is rotating. That is, as shown in (2) of Figure 10, the angular velocity command ω1 approaches the angular velocity at which the rotor of the motor 5 is rotating from the rated angular velocity ωdef from a high point, and when they nearly match, the torque current component Iqf of the motor decreases. The comparator 14-4 compares the torque current component Iqf with the synchronizing permission current Ipe, and switches to the acceleration mode (4) at the time (3) when the torque current component Iqf becomes smaller than the synchronizing permission current Ipe.
(4) When the synchronization process (3) is completed, the corrected angular velocity ωsu and the synchronization integral term (described later) are set to zero. At this point, as shown in Fig. 10, the transient angular velocity ωtrn is smaller than the rated angular velocity ωdef, so the angular velocity command unit 9 enters acceleration mode (4) and accelerates at the acceleration angular velocity ωa as described above.
(5) Then, when the transient angular velocity ωtrn given to the motor 5 increases to the rated angular velocity ωdef, the motor enters the steady mode (5).
【００２１】
以上、本実施形態は、電動機の定格周波数Ｆｄｅｆ、演算のためのサンプリング時間Ｔｓ、３相正弦波を作るテーブルのデータ数Ｎｔｂから定格角速度ωｄｅｆをつくり、また、この定格角速度ωｄｅと要望される加速時間Ｔａから加速角速度ωａを演算し、サンプリング時間毎に加速角速度ωａを積算して過渡時角速度ωｔｒｎをつくり、定格角速度ωｄｅｆと過渡角速度ωｔｒｎを比較し、過渡時角速度ωｔｒｎが定格角速度ωｄｅｆより小さい時は過渡時角速度ωｔｒｎを用いて電動機５を加速し、過渡時角速度ωｔｒｎが定格角速度ωｄｅｆより大きくなった時は定格角速度ωｄｅｆを用いて定常運転に入るように電動機５を制御する。
ここで、本実施形態は、図４、図７において加速角速度ωａを負の符号−ωａで考えると、減速モードまで拡張して実施できる。
このようにして、本実施形態では、電動機の定格周波数Ｆｄｅｆ、演算のためのサンプリング時間Ｔｓ、正弦波テーブル数Ｎｔｂ、加速時間Ｔａ、減速時間−Ｔａを適宜に設定して、定格角速度ωｄｅｆ、加速角速度ωａ及び減速角速度−ωａを演算し、また、加速角速度ωａ及び減速角速度−ωａから過渡時角速度ωｔｒｎをつくるので、電動機５の加速レート、減速レートを自由に設定することが可能となり、電動機の低速時及び無負荷時でも、過励磁にならず、効率よく、スムーズに電動機を加減速することができる。[0021]
As described above, in this embodiment, the rated angular velocity ωdef is calculated from the rated frequency Fdef of the motor, the sampling time Ts for calculation, and the number of data Ntb in the table for creating a three-phase sine wave. The acceleration angular velocity ωa is calculated from this rated angular velocity ωde and the desired acceleration time Ta, the acceleration angular velocity ωa is integrated for each sampling time to produce the transient angular velocity ωtrn, the rated angular velocity ωdef and the transient angular velocity ωtrn are compared, and when the transient angular velocity ωtrn is smaller than the rated angular velocity ωdef, the motor 5 is accelerated using the transient angular velocity ωtrn, and when the transient angular velocity ωtrn becomes larger than the rated angular velocity ωdef, the motor 5 is controlled to enter steady-state operation using the rated angular velocity ωdef.
Here, this embodiment can be expanded to the deceleration mode by considering the acceleration angular velocity ωa as a negative sign −ωa in FIGS.
In this manner, in this embodiment, the rated frequency Fdef of the motor, the sampling time Ts for calculation, the number of sine wave tables Ntb, the acceleration time Ta, and the deceleration time -Ta are appropriately set to calculate the rated angular velocity ωdef, the acceleration angular velocity ωa, and the deceleration angular velocity -ωa, and the transient angular velocity ωtrn is generated from the acceleration angular velocity ωa and the deceleration angular velocity -ωa. This makes it possible to freely set the acceleration rate and deceleration rate of the motor 5, and enables the motor to be accelerated and decelerated efficiently and smoothly without overexcitation even when the motor is running at low speed or under no load.
【００２２】
また、本実施形態は、瞬時停電時の再投入に関して、電動機のトルク成分Ｉｑｆを検出し、トルク電流成分Ｉｑｆが同期投入設定電流Ｉｅｓより大きくなった時点から同期投入モードに入れ、トルク電流成分Ｉｑｆと同期投入許可電流Ｉｐｅの偏差が零になるように比例積分制御を行い、補正角速度ωｓｕをつくり、過渡時角速度の値を減算することにより、電動機に加える電圧と周波数を小さくする。すなわち、同期投入処理部１４−５の比例・積分定数に従い、１次遅れ効果で角速度指令ω１を減少させ、素早く角速度指令ω１を電動機の回転子が回転している角速度に近づけ、指令角速度が電動機の回転子の回転している角速度に近づくと、トルク電流成分Ｉｑｆが同期投入許可電流Ｉｐｅより小さくなり、その点で電動機を定格角速度ωｄｅｆまで上昇させる加速モードに移行する。
このようにして、本実施形態では、瞬時停電時に電動機を再起動するとき、制御装置が指令する角速度を迅速に電動機が回転している角速度に一致させるので、スムーズに同期投入が可能となり、過電流を防止することができる。その後、規定の加速角速度で電動機を加速し、定常運転に復帰させる。[0022]
Furthermore, in this embodiment, with regard to re-insertion after a momentary power outage, the motor torque component Iqf is detected, and when the torque current component Iqf becomes larger than the set synchronizing current Ies, the system enters synchronizing mode, performs proportional-integral control so that the deviation between the torque current component Iqf and the synchronizing permission current Ipe becomes zero, creates a corrective angular velocity ωsu, and reduces the voltage and frequency applied to the motor by subtracting the value of the transient angular velocity. That is, in accordance with the proportional-integral constants of the synchronizing processing unit 14-5, the angular velocity command ω1 is reduced by the first-order lag effect, and the angular velocity command ω1 is quickly brought closer to the angular velocity at which the rotor of the motor is rotating. When the commanded angular velocity approaches the angular velocity at which the rotor of the motor is rotating, the torque current component Iqf becomes smaller than the synchronizing permission current Ipe, and at that point the system transitions to acceleration mode, where the motor is increased to the rated angular velocity ωdef.
In this way, in this embodiment, when restarting the motor after a momentary power outage, the angular velocity commanded by the control device is quickly made to match the angular velocity at which the motor is rotating, enabling smooth synchronization and preventing overcurrent.The motor is then accelerated at a specified acceleration angular velocity to return to steady-state operation.
【００２６】
【発明の効果】
以上説明したように、本発明によれば、電動機の定格周波数、演算のためのサンプリング時間、正弦波テーブル数、加速時間、減速時間を適宜に設定して、定格角速度、加速角速度及び減速角速度を演算し、また、加速角速度及び減速角速度から過渡時角速度をつくることによって、電動機の加速レート、減速レートを自由に設定でき、電動機の低速時及び無負荷時でも、過励磁にならず、効率よく、スムーズに電動機を加減速することが可能になる。
また、瞬時停電時に電動機を再起動するとき、制御装置が指令する角速度を迅速に電動機が回転している角速度に一致させるので、スムーズに同期投入が可能となり、過電流を防止することができ、その後、電動機を加速し、定常運転に復帰させることができる。
また、電動機の定常運転時に、トルク電流成分が同期投入設定電流より大きくなった時点から同期投入モードに入り、同期投入回路と角速度指令部によって電動機の周波数と電圧を低下させ、電動機電流を減少させ、これは、電流リミッタの役割をはたし、過電流を防止し、インバータ装置のトリップを防止することができる。
また、同期投入回路と角速度指令部において、電動機のトルク電流成分の符号が負の場合は回生モードとなり、角速度指令を上昇させて電流を抑制すること、すなわち、過渡時角速度に補正角速度を加えて電動機の周波数と電圧を上げることによって、回生モードにおける過電流を防止し、インバータ装置のトリップを防止することができる。[0026]
[Effects of the Invention]
As described above, according to the present invention, the rated frequency of the motor, the sampling time for calculation, the number of sine wave tables, acceleration time, and deceleration time are appropriately set to calculate the rated angular velocity, acceleration angular velocity, and deceleration angular velocity, and the transient angular velocity is created from the acceleration angular velocity and deceleration angular velocity, thereby making it possible to freely set the acceleration rate and deceleration rate of the motor, and to accelerate and decelerate the motor efficiently and smoothly without overexcitation, even when the motor is running at low speed or under no load.
Furthermore, when restarting the motor after a momentary power outage, the angular velocity commanded by the control device is quickly matched to the angular velocity at which the motor is rotating, allowing for smooth synchronization and preventing overcurrent, after which the motor can be accelerated and returned to steady-state operation.
Furthermore, when the motor is operating normally, the motor enters a synchronizing mode when the torque current component becomes larger than the set synchronizing current. The synchronizing circuit and angular velocity command unit reduce the motor frequency and voltage, thereby reducing the motor current. This acts as a current limiter, preventing overcurrent and tripping of the inverter.
Furthermore, in the synchronization circuit and angular velocity command unit, if the sign of the torque current component of the motor is negative, the motor enters regeneration mode, and the angular velocity command is increased to suppress the current; in other words, a correction angular velocity is added to the transient angular velocity to increase the frequency and voltage of the motor, thereby preventing overcurrent in regeneration mode and tripping of the inverter device.
Claims (9)
前記電動機の定格周波数と、演算のためのサンプリング時間と、３相正弦波を作るテーブルのデータ数とに基づいて定格角速度をつくり、この定格角速度と加速時間あるいは減速時間とから、加速角速度あるいは減速角速度を演算し、前記サンプリング時間毎に加速角速度あるいは減速角速度を積算して過渡時角速度をつくり、この過渡時角速度を角速度指令として前記電動機を加速あるいは減速することを特徴とする誘導電動機の制御方法。A control method for an induction motor in which an induction motor is driven by a PWM inverter that outputs an AC voltage with a variable voltage and a variable frequency, comprising:
a rated angular velocity is calculated based on the rated frequency of the motor, a sampling time for calculation, and the number of data in a table for creating a three-phase sine wave; an acceleration angular velocity or a deceleration angular velocity is calculated from this rated angular velocity and the acceleration time or the deceleration time; the acceleration angular velocity or the deceleration angular velocity is integrated for each sampling time to produce a transient angular velocity; and the transient angular velocity is used as an angular velocity command to accelerate or decelerate the motor.
過渡時角速度を定格角速度と比較し、
過渡時角速度が定格角速度より小さい時は過渡時角速度を用いて前記電動機を加速し、過渡時角速度が定格角速度より大きくなった時は定格角速度を用いて定常運転に入るように前記電動機を制御するか、
あるいは、過渡時角速度が定格角速度より大きい時は過渡時角速度を用いて前記電動機を減速し、過渡時角速度が定格角速度より小さくなった時は定格角速度を用いて定常運転に入るように前記電動機を制御することを特徴とする誘導電動機の制御方法。In claim 1,
Compare the transient angular velocity with the rated angular velocity.
When the transient angular velocity is smaller than the rated angular velocity, the motor is accelerated using the transient angular velocity, and when the transient angular velocity becomes larger than the rated angular velocity, the motor is controlled to enter steady operation using the rated angular velocity ;
Alternatively, a control method for an induction motor, characterized in that when the transient angular velocity is higher than the rated angular velocity, the motor is decelerated using the transient angular velocity, and when the transient angular velocity becomes smaller than the rated angular velocity, the motor is controlled to enter steady operation using the rated angular velocity .
定常運転時に前記電動機を停止するとき、加速角速度を負の値にしてマイナス加算し、過渡時角速度を減少することを特徴とする誘導電動機の制御方法。In claim 1,
A control method for an induction motor, characterized in that when the motor is stopped during steady operation, the acceleration angular velocity is made negative and added to reduce the transient angular velocity.
瞬時停電時の前記電動機の再投入に際して、前記電動機のトルク成分を検出し、トルク電流成分が同期投入設定電流より大きくなった時点から、トルク電流成分と同期投入許可電流の偏差が零になるように比例積分制御を行い、補正角速度をつくり、過渡時角速度から補正角速度を減算した値を角速度指令として、前記電動機に加える電圧と周波数を小さくする同期投入モードに入り、トルク電流成分が同期投入許可電流より小さくなったとき、前記電動機を定格角速度まで上昇させる加速モードに移行することを特徴とする誘導電動機の制御方法。In claim 1 or claim 2,
A control method for an induction motor, characterized in that, when the motor is re-energized after a momentary power failure, the torque component of the motor is detected , and from the point in time when the torque current component becomes larger than the set synchronizing current, proportional-integral control is performed so that the deviation between the torque current component and the synchronizing permission current becomes zero, a corrected angular velocity is generated, and a value obtained by subtracting the corrected angular velocity from the transient angular velocity is used as an angular velocity command to enter a synchronizing mode in which the voltage and frequency applied to the motor are reduced, and when the torque current component becomes smaller than the synchronizing permission current, the method transitions to an acceleration mode in which the motor is increased to a rated angular velocity.
定常運転中に負荷等が大きくなった場合、前記電動機のトルク成分を検出し、トルク電流成分が同期投入設定電流より大きくなった時点から、トルク電流成分と同期投入許可電流との偏差が零になるように比例積分制御を行い、補正角速度をつくり、過渡時角速度から補正角速度を減算した値を角速度指令として、前記電動機に加える電圧と周波数を小さくし、前記電動機電流を減少させる同期投入モードに入ることを特徴とする誘導電動機の制御方法。In claim 1 or claim 2,
A control method for an induction motor, characterized in that when the load, etc., increases during steady-state operation, the torque component of the motor is detected , and from the point in time when the torque current component becomes larger than the set synchronizing current, proportional-integral control is performed so that the deviation between the torque current component and the synchronizing permission current becomes zero, a corrective angular velocity is generated, and the value obtained by subtracting the corrective angular velocity from the transient angular velocity is used as the angular velocity command, thereby reducing the voltage and frequency applied to the motor and decreasing the motor current.
前記電動機のトルク電流成分が負になり、さらに負の同期投入設定電流より小さくなった回生モードのとき、過渡時角速度に補正角速度を加算した値を角速度指令として、前記電動機に加える電圧と周波数を大きくすることを特徴とする誘導電動機の制御方法。In claim 4 or claim 5,
A control method for an induction motor, characterized in that when the torque current component of the motor becomes negative and is in a regeneration mode that is smaller than the negative synchronous input set current, a value obtained by adding a correction angular velocity to the transient angular velocity is used as an angular velocity command, and the voltage and frequency applied to the motor are increased.
該制御装置が直流を可変電圧、可変周波数の交流に変換する電力変換部と、該電力変換部を制御する制御部とを備え、
該制御部が、前記電動機の定格周波数と、サンプリング時間と、正弦波テーブル数と、前記電動機が定格回転数まで加速する加速時間とから、定格角速度と加速角速度とを演算、または、前記電動機の定格周波数と、サンプリング時間と、正弦波テーブル数と、前記電動機が定格回転数まで減速する減速時間とから、定格角速度と減速角速度とを演算する演算部と、
加速角速度あるいは減速角速度をサンプリングして積算し、過渡時角速度を出力する加速角速度積算器あるいは減速角速度積算器と、
定格角速度と過渡時角速度を比較し、過渡時角速度が定格角速度より小さい時は過渡時角速度を角速度指令として出力し、過渡時角速度が定格角速度より大きくなった時は定格角速度を角速度指令として出力するモード比較器とを有することを特徴とする誘導電動機の制御装置。 An induction motor control device that controls an induction motor with a variable voltage, variable frequency AC voltage,
The control device includes a power conversion unit that converts direct current into alternating current of variable voltage and variable frequency, and a control unit that controls the power conversion unit ,
a calculation unit in the control unit that calculates a rated angular velocity and an acceleration angular velocity from the rated frequency of the motor, a sampling time, the number of sine wave tables, and an acceleration time required for the motor to accelerate to a rated rotation speed, or that calculates a rated angular velocity and a deceleration angular velocity from the rated frequency of the motor, a sampling time, the number of sine wave tables, and a deceleration time required for the motor to decelerate to the rated rotation speed ;
an acceleration angular velocity integrator or a deceleration angular velocity integrator that samples and integrates the acceleration angular velocity or the deceleration angular velocity and outputs a transient angular velocity;
and a mode comparator that compares a rated angular velocity with a transient angular velocity, and outputs the transient angular velocity as an angular velocity command when the transient angular velocity is smaller than the rated angular velocity, and outputs the rated angular velocity as an angular velocity command when the transient angular velocity is larger than the rated angular velocity.
前記制御部が、前記電動機の交流３相電流から電動機回転子の回転座標のトルク電流成分および励磁電流成分に変換する電流変換器と、同期投入設定電流値および同期投入許可電流値とトルク電流成分の大きさを比較して同期投入処理を行い、補正角速度を出力する同期投入回路と、過渡時角速度から補正角速度を減算した値を出力する同期投入積算器とを有し、
定格角速度、加速角速度積算器あるいは減速角速度積算器が出力する過渡時角速度、または同期投入積算器が出力する過渡時角速度を選択して角速度指令を出力することを特徴とする誘導電動機の制御装置。In claim 7,
the control unit comprises a current converter that converts the AC three-phase current of the motor into torque current components and excitation current components of the rotation coordinates of the rotor of the motor, a synchronizing circuit that performs synchronizing processing by comparing a synchronizing set current value and a synchronizing permitted current value with the magnitude of the torque current components and outputs a corrected angular velocity, and a synchronizing integrator that outputs a value obtained by subtracting the corrected angular velocity from the transient angular velocity,
An induction motor control device characterized by selecting a rated angular velocity, a transient angular velocity output by an acceleration angular velocity integrator or a deceleration angular velocity integrator, or a transient angular velocity output by a synchronization integrator, and outputting an angular velocity command.
前記同期投入回路は、トルク電流成分が同期投入設定電流より大きくなった時、または、負のトルク電流成分が負の同期投入設定電流より小さくなった時に、同期投入モードを選択し、
トルク電流成分と同期投入許可電流との偏差、または、負のトルク電流成分と負の同期投入許可電流との偏差が零になるように比例積分制御を行い、補正角速度を演算することを特徴とする誘導電動機の制御装置。In claim 8,
the synchronizing circuit selects a synchronizing mode when a torque current component becomes greater than a synchronizing set current or when a negative torque current component becomes less than a negative synchronizing set current;
A control device for an induction motor, characterized in that it performs proportional-integral control so that the deviation between a torque current component and a synchronous input permission current, or the deviation between a negative torque current component and a negative synchronous input permission current, becomes zero, and calculates a corrected angular velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19277696A JP3861228B2 (en) | 1996-07-03 | 1996-07-03 | Induction motor control method and control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19277696A JP3861228B2 (en) | 1996-07-03 | 1996-07-03 | Induction motor control method and control apparatus |
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| Publication Number | Publication Date |
|---|---|
| JPH1023780A JPH1023780A (en) | 1998-01-23 |
| JPH1023780A5 true JPH1023780A5 (en) | 2004-07-08 |
| JP3861228B2 JP3861228B2 (en) | 2006-12-20 |
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| JP19277696A Expired - Lifetime JP3861228B2 (en) | 1996-07-03 | 1996-07-03 | Induction motor control method and control apparatus |
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| KR102716216B1 (en) * | 2020-08-05 | 2024-10-14 | 한국전력공사 | Apparatus for controlling induction type voltage regulator and method thereof |
| KR102643513B1 (en) * | 2022-04-19 | 2024-03-04 | 단국대학교 산학협력단 | Apparatus for Hybrid Type Induction Motor Drive Control |
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1996
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