INVERTER CONTROL DEVICE

Abstract

The present disclosure provides an inverter control device for estimating the magnetic flux of a rotor, and calculating and compensating for a slip frequency on the basis of a torque current and a magnetic flux current, to control the speed of an electric motor. To this end, the present invention may comprise: a command voltage generation unit for outputting a three-phase PWM voltage with respect to a command frequency to an inverter on the basis of voltage/frequency operation; and a slip frequency determination unit for determining a slip frequency on the basis of the phase current and phase voltage of an electric motor driven by the inverter.

Claims

1. An inverter control device comprising: a command voltage generating unit configured to receive a command frequency and output 3-phases PWM voltage to an inverter, based on voltage/frequency operation; and a slip frequency determining unit configured to determine a slip frequency based on phase current and phase voltage of a motor driven by the inverter, wherein the slip frequency determining unit includes: a coordinate converting unit configured to: convert the phase current and the phase voltage of the motor to dq-axis phase currents and phase voltages of a stationary coordinate system; and apply a command phase angle to the dq-axis phase currents and phase voltages to convert the dq-axis phase currents and phase voltages to dq-axis currents and voltages of a rotation coordinate system; a rotor magnetic flux estimating unit configured to: apply an inverter operation frequency to the dq-axis currents and voltages to estimate dq-axis rotor estimated magnetic fluxes of a synchronous coordinate system; and apply a command phase angle to the dq-axis rotor estimated magnetic fluxes to convert the dq-axis rotor estimated magnetic fluxes to dq-axis rotor magnetic fluxes of the stationary coordinate system; an estimating unit configured to: estimate a phase angle of the rotor magnetic flux from the dq-axis rotor magnetic fluxes; and apply the phase angle of the rotor magnetic flux to the dq-axis phase currents to convert the dq-axis phase currents to a torque-based current and a magnetic flux-based current of the rotation coordinate system; and a frequency estimating unit configured to output an estimated slip frequency based on the torque-based current, the magnetic flux-based current and a rotor time constant.

2. The inverter control device of claim 1, wherein the coordinate converting unit includes: a first converting unit configured to convert the phase current and the phase voltage of the motor into the dq-axis phase currents and phase voltages; and a second converting unit configured to apply a value obtained by applying a trigonometric function to the command phase angle to the dq-axis phase currents and phase voltages to convert the dq-axis phase currents and phase voltages to the dq-axis currents and voltages.

3. The inverter control device of claim 1, wherein the rotor magnetic flux estimating unit includes: a magnetic flux estimating unit configured to apply the inverter operation frequency to the dq-axis currents and voltages to estimate the dq-axis rotor estimated magnetic fluxes; and a magnetic flux converting unit configured to apply the command phase angle to the dq-axis rotor estimated magnetic fluxes to convert the dq-axis rotor estimated magnetic fluxes to the dq-axis rotor magnetic fluxes.

4. The inverter control device of claim 3, wherein the magnetic flux estimating unit is configured to estimate the rotor estimated magnetic fluxes based on a following [Equation]:
λ.sub.dqre=λ.sub.dqse−σL.sub.si.sub.dqse  [Equation] where λ.sub.dqre is the rotor estimated magnetic flux, λ.sub.dqse is a stator magnetic flux, and σL.sub.s is a stator leakage inductance.

5. The inverter control device of claim 3, wherein the magnetic flux converting unit is configured to applying a value obtained by applying a trigonometric function to the command phase angle to the dq-axis rotor estimated magnetic fluxes to convert the dq-axis rotor estimated magnetic fluxes to the dq-axis rotor magnetic fluxes.

6. The inverter control device of claim 1, wherein the estimating unit includes: a phase angle estimating unit configured to estimate the phase angle of the rotor magnetic flux from the dq-axis rotor magnetic fluxes; and a current estimating unit configured to applying a value obtained by applying a trigonometric function to the phase angle of the rotor magnetic flux to the dq-axis phase currents to convert the dq-axis phase currents to the torque-based current and the magnetic flux-based current.

7. The inverter control device of claim 6, wherein the phase angle estimating unit includes: a magnetic flux converting unit configured to convert the dq-axis rotor magnetic fluxes into rotation coordinate system rotor magnetic fluxes; a proportional integral controller configured to adjust a q-axis component of the rotation coordinate system rotor magnetic fluxes to 0 to output a frequency of the rotor magnetic flux; and an integrator configured to integrate the frequency of the rotor magnetic flux to output the phase angle of the rotor magnetic flux.

8. The inverter control device of claim 7, wherein the phase angle estimating unit further includes a low-pass filter configured to pass the estimated slip frequency therethrough to output a compensated slip frequency.

9. The inverter control device of claim 1, wherein the frequency estimating unit is configured to output the estimated slip frequency based on a following [Equation]: $\begin{array}{cc}{\omega }_{\mathrm{slip}\_\mathrm{est}}=\frac{1}{T_r}.Math.\frac{I_{\mathrm{torque}}}{I_{\mathrm{Flux}}}& \left[\mathrm{Equation}\right]\end{array}$ wherein w.sub.slip_est is the estimated slip frequency, T.sub.r is a rotor time constant, I.sub.torque is a torque-based current, and I.sub.flux is a magnetic flux-based current.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG. 1 is a control block diagram showing an inverter control device according to the prior art.

[0056] FIG. 2 is a block diagram showing in detail the command voltage generating unit shown in FIG. 1.

[0057] FIG. 3 is an example diagram to illustrate the frequency-voltage relationship.

[0058] FIG. 4 is a circuit diagram showing the inverter shown in FIG. 1.

[0059] FIG. 5 is a detailed block diagram of the slip frequency determining unit shown in FIG. 1.

[0060] FIG. 6 is a schematic block diagram of an inverter control device according to the present disclosure.

[0061] FIG. 7 is a block diagram showing a slip frequency determination unit shown in FIG. 6.

[0062] FIG. 8A, FIG. 8B, FIG. 8C and FIG. 8D are control configuration diagrams showing a coordinate converting unit shown in FIG. 7.

[0063] FIG. 9A and FIG. 9B are control configuration diagrams showing a rotor magnetic flux estimating unit shown in FIG. 7.

[0064] FIG. 10A, FIG. 10B and FIG. 10C are control configuration diagrams showing an estimating unit and a frequency estimating unit shown in FIG. 7.

DETAILED DESCRIPTION

[0065] The above-described objects, features, and advantages will be described later in detail with reference to the accompanying drawings, and accordingly, a person having ordinary knowledge in the technical field to which the present disclosure belongs may easily implement the technical idea of the present disclosure. In describing the present disclosure, when it is determined that a detailed description of a known component related to the present disclosure may unnecessarily obscure gist of the present disclosure, the detailed description is omitted.

[0066] Hereinafter, exemplary embodiments according to the present disclosure will be illustrated in detail with reference to the accompanying drawings. In the drawings, the same reference numerals indicate the same or similar elements.

[0067] Hereinafter, an inverter control device according to one embodiment of the present disclosure will be described.

[0068] FIG. 6 is a schematic block diagram of an inverter control device according to the present disclosure.

[0069] Referring to FIG. 6, an inverter control device 100 may include a motor 110, an inverter 120 and an inverter controller 130.

[0070] In this connection, the motor 110 and the inverter 120 are the same as the motor 10 and the inverter 20 included in the inverter control device shown in FIG. 1. Thus, the descriptions thereof are omitted herein.

[0071] The inverter controller 130 may include a command voltage generating unit 140 and a slip frequency determining unit 150. Unlike the inverter controller 30 included in the inverter control device shown in FIG. 1, the inverter controller 130 may directly estimate a rotor magnetic flux and calculate a phase angle using stator voltage and current of the motor 120.

[0072] The command voltage generating unit 140 may receive a frequency corresponding to a sum of a command frequency w.sub.ref and a compensation slip frequency w.sub.slip_comp as an operation frequency. In this connection, the command voltage generating unit 140 may generate 3-phases PWM voltage V.sub.abc_PWM as a command voltage of the inverter 120 corresponding to the operation frequency, and having a constant ratio of output voltage and frequency, based on voltage/frequency (V/f) operation.

[0073] The command voltage generating unit 140 may output the 3-phases PWM voltage V.sub.abc_PWM to the inverter 120. In this connection, the inverter 120 may operate using the 3-phases PWM voltage V.sub.abc_PWM to provide 3-phases output voltage V.sub.abcn to the motor 110.

[0074] The slip frequency determining unit 150 may determine the slip frequency using phase current and phase voltage of the motor 110. Further, the slip frequency determining unit 150 may estimate a rotor magnetic flux λ.sub.dqrs_est and a phase angle θ.sub.est from the phase current I.sub.abcs and the phase voltage V.sub.abcs of the motor 110. Further, the slip frequency determining unit 150 may compensate for the slip frequency from a relationship between the current and the slip frequency based on the rotor magnetic flux λ.sub.dqrs_est and the phase angle θ.sub.est.

[0075] FIG. 7 is a block diagram showing the slip frequency determining unit shown in FIG. 6. FIG. 8A, FIG. 8B, FIG. 8C and FIG. 8D are control configuration diagrams showing a coordinate converting unit shown in FIG. 7. FIG. 9A and FIG. 9B are control configuration diagrams showing a rotor magnetic flux estimating unit shown in FIG. 7. FIG. 10A, FIG. 10B and FIG. 10C are control configuration diagrams showing a estimating unit and a frequency estimating unit shown in FIG. 7.

[0076] Referring to FIG. 7 to FIG. 10C, the slip frequency determining unit 150 may include a coordinate converting unit 160, a rotor magnetic flux estimating unit 170, an estimating unit 180, and a frequency estimating unit 190.

[0077] First, FIG. 8A shows a control configuration diagram of a dq-axis phase current converting unit 162 and FIG. 8B shows a control configuration diagram of a dq-axis phase voltage converting unit 164. FIG. 8C shows a control configuration diagram of a dq-axis current converting unit 166 and FIG. 8D shows a control configuration diagram of a dq-axis voltage converting unit 168.

[0078] The coordinate converting unit 160 may include a first coordinate converting unit 161 and a second coordinate converting unit 165.

[0079] The first coordinate converting unit 161 may include the dq-axis phase current converting unit 162 and the dq-axis phase voltage converting unit 164.

[0080] First, the dq-axis phase current converting unit 162 may convert 3-phases abc-axis stator currents, that is, 3-phases abc-axis currents I.sub.as, I.sub.bs, and I.sub.cs into dq-axis phase currents I.sub.dss and I.sub.qss of the stationary coordinate system. The dq-axis phase voltage converting unit 164 may convert 3-phases abc-axis stator voltages, that is, 3-phases abc-axis phase voltages V.sub.as, V.sub.bs, and V.sub.cs into dq-axis phase voltages V.sub.dss and V.sub.qss of the stationary coordinate system.

[0081] The second coordinate converting unit 165 may include a dq-axis current converting unit 166 and a dq-axis voltage converting unit 168.

[0082] The dq-axis current converting unit 166 may apply a value obtained by applying a trigonometric function to the command phase angle θ.sub.V/f to the dq-axis phase currents I.sub.dss and I.sub.qss of the stationary coordinate system to convert the dq-axis phase currents I.sub.dss and I.sub.qss to dq-axis currents I.sub.dse and I.sub.qse of the rotation coordinate system.

[0083] The dq-axis voltage converting unit 168 may apply a value obtained by applying a trigonometric function to the command phase angle θ.sub.V/f to the dq-axis phase voltages V.sub.dss and V.sub.qss of the stationary coordinate system to convert the dq-axis phase voltages V.sub.dss and V.sub.qss to dq-axis voltages V.sub.dse and V.sub.qse of the rotation coordinate system.

[0084] The rotor magnetic flux estimating unit 170 may include a magnetic flux estimating unit 172 and a magnetic flux converting unit 174.

[0085] In this connection, FIG. 9A shows a control configuration diagram of the magnetic flux estimating unit 172 and FIG. 9B shows a control configuration diagram of the magnetic flux converting unit 174.

[0086] The magnetic flux estimating unit 172 may apply an inverter operation frequency w.sub.V/f to the dq-axis currents I.sub.dse, and I.sub.qse and the dq-axis voltages V.sub.dse and V.sub.qse to estimate dq-axis rotor estimated magnetic fluxes λ.sub.dre_est and λ.sub.qre_est of a synchronous coordinate system.

[0087] In this connection, the dq-axis rotor estimated magnetic fluxes λ.sub.dre_est and λ.sub.qre_est of the synchronous coordinate system may be estimated based on a following [Equation 2].

[00003]$\begin{array}{cc}{V}_{\mathrm{dqse}}=R_s{i}_{\mathrm{dqse}}-\frac{d{\lambda }_{\mathrm{dqse}}}{\mathrm{dt}}+{\mathrm{jw}}_e{\lambda }_{\mathrm{dqse}}\mathrm{where},\frac{d{\lambda }_{\mathrm{dqse}}}{\mathrm{dt}}=0.\mathrm{Thus},V_{\mathrm{dqse}}=R_s{i}_{\mathrm{dqse}}+{\mathrm{jw}}_e{\lambda }_{\mathrm{dqse}}.& \left[\mathrm{Equation}2\right]\end{array}$

[0088] First, [Equation 2] expresses a induction motor voltage Equation expressed in the synchronous coordinate system based on the rotor magnetic flux.

[0089] V.sub.dqse denotes the dq-axis voltage, R.sub.s denotes a stator resistance, i.sub.dqse denotes the dq-axis current, we denotes the operation frequency (w.sub.V/f in FIG. 9), and λ.sub.dqse denotes the dq-axis stator magnetic flux. In this connection,

[00004]$\frac{d{\lambda }_{dqse}}{dt}=0$

indicates an operation considering a normal state of the motor 110 in the voltage/frequency operation.

[0090] [Equation 3]

[00005]${\lambda }_{\mathrm{dqre}}=-j\frac{\left(v_{dqse}-R_s{i}_{dqse}\right)}{w_e}$

[0091] In this connection,

[00006]${\lambda }_{\mathrm{dqre}}=\sigma L_s{i}_{\mathrm{dqse}}-\frac{L_r}{L_m}{\lambda }_{\mathrm{dqse}},$

where

[00007]$\frac{L_r}{L_m}=1.$

[0092] In this connection, σL.sub.s is a stator leakage inductance, L.sub.r is a rotor inductance and L.sub.m is a mutual inductance, and λ.sub.dqre is the dq-axis rotor estimated magnetic flux (“λ.sub.dre_est” and “λ.sub.qre_est” in FIG. 8)

λ.sub.dqre=λ.sub.dqse−σL.sub.si.sub.dqse  [Equation 4]

[0093] In this connection, λ.sub.dqre is the rotor estimated magnetic flux, λ.sub.dqse is a stator magnetic flux, and σL.sub.s is the stator leakage inductance.

[0094] Upon approximation

[00008]$\frac{L_r}{L_m}=1$

in [Equation 3] as described above, the dq-axis rotor estimated magnetic flux may be estimated.

[0095] The magnetic flux converting unit 174 may apply the command phase angle θ.sub.V/f to the d-axis rotor estimated magnetic fluxes λ.sub.dre_est and λ.sub.qre_est to convert the d-axis rotor estimated magnetic fluxes λ.sub.dre_est and λ.sub.qre_est to the dq-axis rotor magnetic flux λ.sub.drs_est and λ.sub.qrs_est.

[0096] The estimating unit 180 may include a current estimating unit 182 and a phase angle estimating unit 184.

[0097] In this connection, FIG. 10A shows a control configuration diagram of the current estimating unit 182. FIG. 10B shows the phase angle estimating unit 184. FIG. 10C shows a control configuration diagram of the frequency estimating unit 190.

[0098] The current estimating unit 182 may apply a value obtained by applying the trigonometric function to the phase angle θ.sub.est of the rotor magnetic flux to the dq-axis phase currents I.sub.dss and I.sub.qss to convert the dq-axis phase currents I.sub.dss and I.sub.qss not to the active current but to a torque-based current i.sub.torque and a magnetic flux-based current I.sub.flux.

[0099] In this connection, the phase angle estimating unit 184 may include a magnetic flux converting unit, a proportional integral controller, and an integrator. The magnetic flux converting unit may convert the dq-axis rotor magnetic fluxes λ.sub.drs_est, and λ.sub.qrs_est into rotation coordinate system rotor magnetic fluxes λ.sub.qrs_est. The proportional integral controller may adjust a q-axis component λ.sub.qrs_est of the rotation coordinate system rotor magnetic flux to 0 to output a frequency of the rotor magnetic flux. The integrator may integrate the frequency of the rotor magnetic flux to output the phase angle θ.sub.est of the rotor magnetic flux.

[0100] The frequency estimating unit 190 may estimate and output an estimated slip frequency w.sub.slip_est based on the torque-based current I.sub.torque, the magnetic flux-based current I.sub.flux, and a rotor time constant T.sub.r based on a following Equation 5.

[00009]$\begin{array}{cc}{\omega }_{\mathrm{slip}\_\mathrm{est}}=\frac{1}{T_r}.Math.\frac{I_{\mathrm{torque}}}{I_{\mathrm{Flux}}}& \left[\mathrm{Equation}5\right]\end{array}$

[0101] In this connection, w.sub.slip_est is the estimated slip frequency, T.sub.r is the rotor time constant, I.sub.torque is the torque-based current, and I.sub.flux is the magnetic flux-based current.

[0102] The estimated slip frequency w.sub.slip_est calculated based on [Equation 15] may pass through the low pass filter LPE included in the phase angle estimating unit 184 and thus may be outputted as a compensated slip frequency ω.sub.slip_comp.

[0103] The compensated slip frequency ω.sub.slip_comp may correspond to the speed error. The inverter controller 130 may determine the operation frequency by adding the slip frequency ω.sub.slip_comp to the command frequency, such that the inverter may operate at the constant speed regardless of the load.

[0104] The inverter control device according to the present disclosure estimates the rotor magnetic flux, and the phase angle, and compensates for the slip frequency using the estimated phase angle of the rotor magnetic flux, such that the inverter may operate at a constant speed regardless of a load.

[0105] Further, the inverter control device according to the present disclosure may be applicable to both a low speed operation region and a high speed operation region and thus may easily control the inverter.

[0106] The present disclosure as described above may be subject to various substitutions, modifications and changes within the scope of the technical idea of the present disclosure by those with ordinary knowledge in the technical field to which the present disclosure belongs. Thus, the present disclosure is not limited to the accompanying drawings.