Power conversion device

Abstract

This power conversion device comprises: a power converter including a switching element; and a control unit which controls the power converter. The control unit calculates a torque electric current detection value and an excitation electric current detection value from an electric current flowing to an external device, and when an absolute value of the torque electric current detection value is greater than or equal to the excitation electric current detection value, performs control such that the excitation electric current detection value follows the torque electric current detection value.

Claims

1. A power conversion device, comprising: a power converter including a switching element; and a control unit which controls the power converter, wherein the control unit calculates a torque electric current detection value and an excitation electric current detection value from an electric current flowing to an external device, and when an absolute value of the torque electric current detection value is greater than or equal to the excitation electric current detection value, performs control such that the excitation electric current detection value follows the torque electric current detection value.

2. The power conversion device according to claim 1, wherein the control unit controls a voltage instruction value of a torque axis such that the excitation electric current detection value follows the torque electric current detection value.

3. The power conversion device according to claim 2, wherein the control unit calculates the voltage instruction value of the torque axis by proportional control and integral control such that a deviation between the absolute value of the torque electric current detection value and the excitation electric current detection value is zero.

4. The power conversion device according to claim 3, wherein the external device is an induction motor, and a control gain of the proportional control and the integral control is corrected on the basis of a frequency instruction value of the induction motor.

5. The power conversion device according to claim 1, wherein a voltage instruction value of a magnetic flux axis is zero, and the control unit includes a V/f control calculation unit which outputs a voltage instruction value of a torque axis proportional to a frequency instruction value.

6. The power conversion device according to claim 1, further comprising: a recording unit which records parameters of the control unit, wherein the parameters are set or changed by a connection to a digital operator, a personal computer or a tablet, and a smart phone device.

7. The power conversion device according to claim 1, further comprising: an electric current detector which detects an electric current of the external device.

8. A power conversion device, comprising: a power converter including a switching element; and a control unit which controls the power converter, wherein the control unit calculates a torque electric current detection value and an excitation electric current detection value from an electric current flowing to an external device, calculates an absolute value of effective power and reactive power, and when the absolute value of the effective power is greater than or equal to the absolute value of the reactive power, performs control such that the absolute value of the reactive power follows the absolute value of the effective power.

9. The power conversion device according to claim 8, wherein the control unit controls a voltage instruction value of a torque axis such that the absolute value of the reactive power follows the absolute value of the effective power.

10. The power conversion device according to claim 9, wherein the control unit calculates the voltage instruction value of the torque axis by proportional control and integral control such that a deviation between the absolute value of the effective power and the absolute value of the reactive power is zero.

11. The power conversion device according to claim 10, wherein the external device is an induction motor, and a control gain of the proportional control and the integral control is corrected on the basis of a frequency instruction value of the induction motor.

12. A power conversion device, comprising: a power converter including a switching element; and a control unit which controls the power converter, wherein the control unit calculates a torque electric current detection value and an excitation electric current detection value from an electric current flowing to an external device, calculates a voltage instruction value of a magnetic flux axis and a voltage instruction value of a torque axis, on the basis of a velocity detection value or a velocity estimation value of the external device, the torque electric current detection value, and the excitation electric current detection value, and when an absolute value of the torque electric current instruction value is greater than or equal to a first excitation electric current instruction value, corrects the first excitation electric current instruction value such that a second excitation electric current instruction value follows the absolute value of the torque electric current instruction value.

13. The power conversion device according to claim 12, wherein the control unit calculates a correction electric current instruction by proportional control and integral control such that a deviation between the absolute value of the torque electric current instruction value and the second excitation electric current instruction value is zero.

14. The power conversion device according to claim 13, wherein the external device is an induction motor, and a control gain of the proportional control and the integral control is corrected on the basis of a frequency instruction value of the induction motor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a system configuration diagram including a power conversion device and an induction motor in Example 1.

(2) FIG. 2 is a diagram illustrating a configuration of a voltage instruction correction calculation unit in Example 1.

(3) FIG. 3 is a diagram illustrating an electric current vector of the induction motor.

(4) FIGS. 4A and 4B are diagrams illustrating electric current control properties.

(5) FIG. 5 is a diagram illustrating a modification example of the voltage instruction correction calculation unit of Example 1.

(6) FIG. 6 is a diagram describing a verification method.

(7) FIG. 7 is a system configuration diagram including a power conversion device and an induction motor in Example 2.

(8) FIG. 8 is a diagram illustrating a configuration of a voltage instruction correction calculation unit in Example 2.

(9) FIG. 9 is a system configuration diagram including a power conversion device and an induction motor in Example 3.

(10) FIG. 10 is a diagram illustrating a configuration of an excitation electric current instruction calculation unit in Example 3.

(11) FIG. 11 is a configuration diagram of an induction motor driving system including a power conversion device and an induction motor in Example 4.

MODE FOR CARRYING OUT THE INVENTION

(12) Hereinafter, examples will be described in detail by using the drawings.

Example 1

(13) FIG. 1 is a system configuration diagram including a power conversion device and an induction motor 1 that is an external device in Example 1. The induction motor 1 generates torque by a magnetic flux that is generated by an excitation electric current of a magnetic flux axis (d axis) component, and a torque electric current of a torque axis (q axis) component orthogonal to the magnetic flux axis.

(14) A power converter 2 includes a semiconductor element as a switching element. The power converter 2 inputs three-phase alternating-current voltage instruction values v.sub.u*, v.sub.v*, and v.sub.w*, and prepares and outputs voltage values proportional to the three-phase alternating-current voltage instruction values v.sub.u*, v.sub.v*, and v.sub.w*. An output voltage value and an output frequency value of the induction motor 1 are variable on the basis of the output of the power converter 2. IGBT may be used as the switching element.

(15) A direct-current power source 3 supplies a direct-current voltage to the power converter 2.

(16) An electric current detector 4 outputs i.sub.uc, i.sub.vc, and i.sub.wc that are detection values of three-phase alternating-current electric currents i.sub.u, i.sub.v, and i.sub.w of the induction motor 1. The electric current detector 4 may detect two phases in three phases of the induction motor 1, for example, may detect a u-phase line electric current and a w-phase line electric current, and may obtain v phase line electric current as i.sub.v=−(i.sub.u+i.sub.w) from an alternating-current condition (i.sub.u+i.sub.v+i.sub.w=0).

(17) In this example, an example is described in which the electric current detector 4 is provided in the power conversion device, but the electric current detector 4 may be provided outside the power conversion device.

(18) A control unit includes a coordinate conversion unit 5, a V/f control calculation unit 6, a voltage instruction correction calculation unit 7, a phase calculation unit 8, an addition unit 9, and a coordinate conversion unit 10, described below. Then, the control unit controls the power converter 2.

(19) The control unit includes a semiconductor integrated circuit (a calculation controller) such as a microcomputer or a digital signal processor (DSP).

(20) Next, each constituent of the control unit which controls the power converter 2 will be described.

(21) The coordinate conversion unit 5 calculates and outputs an electric current detection value i.sub.dc of a d axis and an electric current detection value i.sub.qc of a q axis from the alternating-current electric current detection values i.sub.uc, i.sub.vc, and i.sub.wc of the three-phase alternating-current electric currents i.sub.u, i.sub.v, and i.sub.w, and a phase calculation value θ.sub.dc.

(22) The V/f control calculation unit 6 outputs a voltage instruction value v.sub.dc* of the d axis that is the value of zero, and a voltage instruction value v.sub.qc* of the q axis that is proportional to a frequency instruction value ψ.sub.r*.

(23) The voltage instruction correction calculation unit 7 outputs a voltage correction value Δv.sub.qc* of the q axis that is calculated on the basis of the electric current detection value i.sub.qc of the q axis and the electric current detection value i.sub.dc of the d axis.

(24) The phase calculation unit 8 outputs the phase calculation value θ.sub.dc by integrating the frequency instruction value ω.sub.r*.

(25) The addition unit 9 outputs a second voltage instruction value v.sub.qc** of the q axis by adding the voltage instruction value v.sub.qc* of the q axis and the voltage correction value Δv.sub.qc* of the q axis.

(26) The coordinate conversion unit 10 outputs three-phase alternating-current voltage instruction values v.sub.u*, v.sub.v*, and v.sub.w* from the voltage instruction value v.sub.dc* of the d axis, the voltage instruction value v.sub.qc** of the q axis, and the phase calculation value θ.sub.dc.

(27) First, a basic operation of a V/f control method in a case of using the voltage instruction correction calculation unit 7 that is the characteristic of this example will be described.

(28) In the V/f control calculation unit 6, the voltage instruction value v.sub.qc* of the q axis is output in accordance with (Expression 1) by using the voltage instruction value v.sub.dc* of the d axis that is the value of zero, the frequency instruction value ω.sub.r*, and a direct-current voltage E.sub.DC.

(29) $\begin{array}{cc}\left[\mathrm{Expression}1\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{*}=0\\ v_{\mathrm{qc}}^{*}=\frac{2}{\sqrt{3}}.Math.\frac{E_{DC}/2}{{\omega }_{r\mathrm{\_max}}}.Math.{\omega }_r^{*}\end{array}\right]& \left(1\right)\end{array}$

(30) Here, ω.sub.r_max is a basilar angle frequency.

(31) In the phase calculation unit 8, a phase θ.sub.dc of the magnetic flux axis of the induction motor 1 is calculated in accordance with (Expression 2).

(32) $\begin{array}{cc}\left[\mathrm{Expression}2\right]& \end{array}$$\begin{array}{cc}{\theta }_{dc}=\frac{1}{s}.Math.{\omega }_r^{*}& \left(2\right)\end{array}$

(33) FIG. 2 is a diagram illustrating a function block of the voltage instruction correction calculation unit 7 in Example 1.

(34) In an absolute value calculation unit 71, the electric current detection value i.sub.qc of the q axis is input, and an absolute value |i.sub.qc| of i.sub.qc is output.

(35) In a subtraction unit 72, the absolute value |i.sub.qc| of the i.sub.qc and the electric current detection value i.sub.dc of the d axis are input, and an electric current deviation Δi is output. The electric current deviation Δi when the absolute value |i.sub.qc| of the torque electric current detection value is greater than or equal to the excitation electric current detection value i.sub.dc is input to a proportional calculation unit 73 having a constant of a proportional gain K.sub.p and an integral calculation unit 74 having a constant of K.sub.i. An output signal of the proportional calculation unit 73 and the integral calculation unit 74 is input to an addition unit 75. As a result thereof, the correction value Δv.sub.qc* of the voltage instruction value v.sub.qc* of the q axis is calculated by calculation represented in (Expression 3). As described above, control of correcting the voltage instruction value v.sub.qc* of the q axis is performed such that the electric current detection value i.sub.dc of the d axis follows the absolute value of the electric current detection value i.sub.qc of the q axis. Here, K.sub.p1 is a proportional gain, and K.sub.i1 is an integral gain.

(36) $\begin{array}{cc}\left[\mathrm{Expression}3\right]& \end{array}$$\begin{array}{cc}\Delta v_{\mathrm{qc}}^{*}=\left(K_{p1}+\frac{K_{i1}}{s}\right).Math.\Delta i& \left(3\right)\end{array}$

(37) The principle that this example is highly efficient will be described. FIG. 3 is a diagram illustrating an electric current vector of the induction motor 1. In a case where the direction of the magnetic flux that is generated by an excitation electric current i.sub.d is the d axis, a direction π/2 ahead thereof is the q axis that is the torque axis, and a phase angle between a motor electric current i.sub.1 and the excitation electric current i.sub.d is θ.sub.i, the excitation electric current i.sub.d and a torque electric current i.sub.q are given by Expression (4). Here, the motor electric current i.sub.1 may be a peak value of any one of the alternating-current electric current detection values i.sub.uc, i.sub.vc, and i.sub.wc.

(38) $\begin{array}{cc}\left[\mathrm{Expression}4\right]& \end{array}$$\begin{array}{cc}\begin{array}{c}{i}_d=i_1\cos {\theta }_i\\ i_q=i_1\sin {\theta }_i\end{array})& \left(4\right)\end{array}$

(39) In (Expression 4), when phase angle θ.sub.i=π/4, the motor electric current i.sub.1 is minimized by the relationship of (Expression 5) at the same torque.

(40) $\begin{array}{cc}\left[\mathrm{Expression}5\right]& \end{array}$$\begin{array}{cc}{i}_d=i_q=\frac{1}{\sqrt{2}}{i}_1& \left(5\right)\end{array}$

(41) Torque τ of the induction motor 1 is given by (Expression 6).

(42) $\begin{array}{cc}\left[\mathrm{Expression}6\right]& \end{array}$$\begin{array}{cc}\tau =\frac{3}{2}{P}_m\frac{M}{L_2}\left({\varphi }_{2d}{i}_q-{\varphi }_{2q}{i}_d\right)& \left(6\right)\end{array}$

(43) Here, Pm is the number of pole pairs (the value of ½ of the number of motor poles), M is mutual inductance, L.sub.2 is secondary inductance, ϕ.sub.2d is a secondary magnetic flux of the d axis, and ϕ.sub.2q is a secondary magnetic flux of the q axis.

(44) Here, an ideal condition of the magnetic flux in motor control is (Expression 7), and

(45) $\begin{array}{cc}\left[\mathrm{Expression}7\right]& \end{array}$$\begin{array}{cc}\begin{array}{c}{\varphi }_{2d}={\mathrm{Mi}}_d\\ {\varphi }_{2q}=0\end{array})& \left(7\right)\end{array}$

(46) when (Expression 7) is assigned to (Expression 6), (Expression 8) is obtained.

(47) $\begin{array}{cc}\left[\mathrm{Expression}8\right]& \end{array}$$\begin{array}{cc}\tau =\frac{3}{2}{P}_m\frac{M}{L_2}{\varphi }_{2d}{i}_q=\frac{3}{2}{P}_m\frac{M^2}{L_2}{i}_d{i}_q& \left(8\right)\end{array}$

(48) Further, when (Expression 5) is assigned to (Expression 8), (Expression 9) that is a torque expression when the motor electric current is minimized is obtained.

(49) $\begin{array}{cc}\left[\mathrm{Expression}9\right]& \end{array}$$\begin{array}{cc}\tau =\frac{3}{2}{P}_m\frac{M^2}{L_2}{i}_1^2& \left(9\right)\end{array}$

(50) In this example, in order to respond to both of a power running operation and a regenerative operation, an absolute value of the torque electric current i.sub.q is calculated, and the voltage instruction value v.sub.qc* of the q axis is corrected such that the excitation electric current i.sub.d follows the absolute value of the torque electric current i.sub.q.

(51) FIG. 4 is a diagram illustrating electric current control properties of Example 1 and a comparative example. FIG. 4(a) is a diagram illustrating electric current control properties of a state in which the voltage instruction correction calculation unit 7 is not operated by V/f control. FIG. 4(b) is a diagram illustrating electric current control properties of a state in which the voltage instruction correction calculation unit 7 is operated.

(52) In both of FIG. 4(a) and FIG. 4(b), lamp-shaped load torque starts to be applied from a point A in the drawing, the size of rated torque is obtained at a point B in the drawing, and rated torque is applied from the point B to the right. In a case where an electric current value of FIG. 4(a) is 100%, an electric current value of FIG. 4(b) is 88.6%, and thus, it is found that there is a reduction of approximately 11.4%. The effects of this example are apparent.

(53) In this example, the control unit performs the control of correcting the voltage instruction value v.sub.qc* of the q axis such that the electric current detection value i.sub.dc of the d axis follows the absolute value of the electric current detection value i.sub.qc of the q axis, and thus, the electric current value is smaller and highly efficient electric current properties can be attained, compared to the electric current properties of the V/f control.

(54) In addition, in this example, in the voltage instruction correction calculation unit 7, the gain (K.sub.p, K.sub.i) of proportional calculation and integral calculation is a fixed value, but may be changed in accordance with the frequency instruction value ω.sub.r*, as illustrated in FIG. 5. FIG. 5 is a diagram illustrating a modification example of Example 1, and is a function block of a voltage instruction correction calculation unit 7a which changes the gain (K.sub.p, K.sub.i) of the proportional calculation and the integral calculation, in accordance with the frequency instruction value ω.sub.r*.

(55) The voltage instruction correction calculation unit 7a in FIG. 5 is a modification example of the voltage instruction correction calculation unit 7 in FIG. 2. In addition, 7a1 and 7a2 in FIG. 5 are identical to the absolute value calculation unit 71 and the subtraction unit 72 in FIG. 2.

(56) As illustrated in FIG. 5, Δi that is a deviation between the absolute value |i.sub.qc| of the electric current detection value i.sub.qc of the q axis and the electric current detection value i.sub.dc of the d axis is input to a proportional calculation unit 7a3 having the gain K.sub.p1 of the proportional calculation that is changed in accordance with the size of the frequency instruction value ω.sub.r* and an integral calculation unit 7a4 having the gain K.sub.i1 of the integral calculation that is changed in accordance with the size of the frequency instruction value ω.sub.r*. An output value of the proportional calculation unit 7a3 and an output value of the integral calculation unit 7a4 are added by an addition unit 7a5, and are output as a correction value Δv.sub.qc** of the voltage instruction value v.sub.qc* of the q axis.

(57) In FIG. 5, K.sub.p1 and K.sub.i1 are changed approximately in proportion to the size of the frequency instruction value ω.sub.r*, and thus, a mechanism in which the electric current detection value i.sub.dc of the d axis follows the absolute value |i.sub.qc| of the electric current detection value i.sub.qc of the q axis is changed in accordance with a frequency. That is, in a low-velocity area to a high-velocity area, the stability of a feedback loop relevant to highly efficient control can be improved, and a motor electric current value can be minimized within a shorter period of time.

(58) FIG. 6 is a diagram describing a verification method in a case of adopting this example. An electric current detector 21 is attached to a power conversion device 20 which drives the induction motor 1, and an encoder 22 is attached to a shaft of the induction motor 1.

(59) The three-phase alternating-current electric current detection values (i.sub.uc, i.sub.vc, and i.sub.wc) that are the output of the electric current detector 21 and a position 9 that is the output of the encoder are input to a calculation unit 23 of a vector electric current component, and the electric current detection value i.sub.dc of the d axis and the electric current detection value i.sub.qc of the q axis of the vector electric current component are output.

(60) In an observation unit 24 of the waveform of each unit, when the electric current detection value i.sub.qc of the q axis is greater than the electric current detection value i.sub.dc of the d axis, as illustrated in FIG. 4(b), it is apparent that this example is adopted insofar as the electric current detection value i.sub.dc of the d axis follows the electric current detection value i.sub.qc of the q axis.

Example 2

(61) FIG. 7 is a diagram illustrating the configuration of a system including a power conversion device and the induction motor 1 Example 2. In Example 1, the absolute value of the torque electric current i.sub.q is calculated, and the excitation electric current i.sub.d is allowed to follow the absolute value of the torque electric current i.sub.q, but in this example, an absolute value |Q.sub.c| of reactive power is allowed to follow an absolute value |P.sub.c| of effective power.

(62) In FIG. 7, the induction motor 1, the power converter 2, the electric current detector 4, the coordinate conversion unit 5, the V/f control calculation unit 6, the phase calculation unit 8, the addition unit 9, and the coordinate conversion unit 10 are identical to those in FIG. 1. A voltage instruction correction calculation unit 7b included in the control unit outputs a correction value Δv.sub.qc*** of the voltage instruction value v.sub.qc* of the q axis, on the basis of the absolute value |P.sub.c| of an effective power calculation value and an absolute value |Q.sub.c| of a reactive power calculation value.

(63) FIG. 8 illustrates the configuration of the voltage instruction correction calculation unit 7b. 7b3 illustrates a proportional calculation unit. 7b4 illustrates an integral calculation unit. 7b5 illustrates the addition unit 75. The voltage instruction value v.sub.qc** of the q axis and the electric current detection value i.sub.qc of the q axis are input to a multiplication unit 7b6, and an effective power calculation value P.sub.c that is a multiplication value thereof is output. The effective power calculation value P.sub.c that is the output of the multiplication unit 7b6 is input to an absolute value calculation unit 7b7, and the absolute value |P.sub.c| of P.sub.c is output.

(64) The voltage instruction value v.sub.qc** of the q axis and the electric current detection value i.sub.dc of the d axis are input to a multiplication unit 7b8, and a reactive power calculation value Q.sub.c that is a multiplication value thereof is output. The reactive power calculation value Q.sub.c that is the output of the multiplication unit 7b8 is input to an absolute value calculation unit 7b9, and the absolute value |Q.sub.c| of Q.sub.c is output.

(65) In a subtraction unit 7b2, the absolute value |P.sub.c| of P.sub.c and the absolute value |Q.sub.c| of Q.sub.c are input, and a power deviation Δp is output. The power deviation Δp is input to the proportional calculation unit 7b3 having the constant of the proportional gain K.sub.p and the integral calculation unit 7b4 having the constant of K.sub.i, and an output signal thereof is input to the addition unit 7b5. The correction value Δv.sub.qc*** of the voltage instruction value v.sub.qc* of the q axis is calculated by calculation represented in (Expression 10).

(66) 0$\begin{array}{cc}\left[\mathrm{Expression}10\right]& \end{array}$$\begin{array}{cc}\Delta v_{qc}^{***}=\left(K_{p2}+\frac{K_{i2}}{s}\right).Math.\Delta p& \left(10\right)\end{array}$

(67) Here, K.sub.p2 is a proportional gain, and K.sub.i2 is an integral gain.

(68) Here, the principle that this example is highly efficient will be described. When the voltage instruction value v.sub.dc* of the d axis=0, the effective power P.sub.c that is calculated on a control axis is given by (Expression 11).

(69) $\begin{array}{cc}\left[\mathrm{Expression}11\right]& \end{array}$$\begin{array}{cc}\begin{array}{c}{P}_c=v_{\mathrm{qc}}{i}_{\mathrm{qc}}=\left(R_1{i}_{\mathrm{qc}}+{\omega }_1{L}_{\sigma }{i}_{dc}+{\omega }_1\frac{M}{L_2}{\varphi }_{2d}\right)i_{\mathrm{qc}}\\ =R_1{i}_{\mathrm{qc}}^2+{\omega }_1{L}_{\sigma }{i}_{dc}{i}_{\mathrm{qc}}+{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{qc}}\end{array}& \left(11\right)\end{array}$

(70) The absolute value of the effective power P.sub.c is (Expression 12).

(71) $\begin{array}{cc}\left[\mathrm{Expression}12\right]& \end{array}$$\begin{array}{cc}.Math.P_c.Math.=.Math.R_1{i}_{\mathrm{qc}}^2+{\omega }_1{L}_{\sigma }{i}_{dc}{i}_{\mathrm{qc}}+{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{qc}}.Math.& \left(12\right)\end{array}$

(72) In addition, the reactive power Qc that is calculated on the control axis is given by (Expression 13).

(73) $\begin{array}{cc}\left[\mathrm{Expression}13\right]& \end{array}$$\begin{array}{cc}\begin{array}{c}{Q}_c=-v_{\mathrm{qc}}{i}_{\mathrm{dc}}\\ =-\left(R_1{i}_{\mathrm{qc}}+{\omega }_1{L}_{\sigma }{i}_{\mathrm{dc}}+{\omega }_1\frac{M}{L_2}{\varphi }_{2d}\right)i_{\mathrm{dc}}\\ =-R_1{i}_{\mathrm{qc}}{i}_{dc}-{\omega }_1{L}_{\sigma }{i}_{\mathrm{dc}}^2-{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{dc}}\end{array}& \left(13\right)\end{array}$

(74) The absolute value of the reactive power Qc is (Expression 14).

(75) $\begin{array}{cc}\left[\mathrm{Expression}14\right]& \end{array}$$\begin{array}{cc}.Math.Q_c.Math.=.Math.-R_1{i}_{\mathrm{qc}}{i}_{dc}-{\omega }_1{L}_{\sigma }{i}_{\mathrm{dc}}^2-{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{dc}}.Math.& \left(14\right)\end{array}$

(76) The voltage instruction value v.sub.qc* of the q axis is corrected by using |P.sub.c| and |Q|. In a case where control is performed such that (Expression 12)=(Expression 14), the following expression is given.

(77) $\begin{array}{cc}\left[\mathrm{Expression}15\right]& \end{array}$$\begin{array}{cc}.Math.R_1{i}_{\mathrm{qc}}^2+{\omega }_1{L}_{\sigma }{i}_{\mathrm{dc}}{i}_{\mathrm{qc}}+{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{qc}}.Math.=.Math.-R_1{i}_{\mathrm{qc}}{i}_{\mathrm{dc}}-{\omega }_1{L}_{\sigma }{i}_{\mathrm{dc}}^2-{\omega }_1\frac{M}{L_2}{\varphi }_{2d}{i}_{\mathrm{dc}}.Math.& \left(15\right)\end{array}$

(78) As a result thereof, in Example 2, i.sub.dc (the electric current detection value of the d axis)=i.sub.qc (the electric current detection value of the q axis) is indirectly obtained, which is directly obtained in Example 1, and thus, a highly efficient operation can be attained.

(79) In Example 2, as with the example of FIG. 5, the gain K.sub.p1 of the proportional calculation and the gain K.sub.i1 of the integral calculation are changed approximately in proportion to the size of the frequency instruction value ω.sub.r*, and thus, in the low-velocity area to the high-velocity area, the stability of the feedback loop relevant to the highly efficient control can be improved, and the motor electric current value can be minimized within a shorter period of time.

Example 3

(80) FIG. 9 is a system configuration diagram including a power conversion device and an induction motor in Example 3. In Example 1 and Example 2, the induction motor 1 is subjected to the V/f control, but in Example 3, the calculation of velocity control, electric current control, and vector control is performed.

(81) In FIG. 9, the induction motor 1, the power converter 2, the direct-current power source 3, the electric current detector 4, the coordinate conversion unit 5, the phase calculation unit 8, and the coordinate conversion unit 10 are identical to those in FIG. 1.

(82) The control unit includes the coordinate conversion unit 5, the phase calculation unit 8, the coordinate conversion unit 10, a feedback control calculation unit 11, an excitation electric current instruction calculation unit 12, and a frequency estimation calculation unit 13. Then, the control unit controls the power converter 2.

(83) The feedback control calculation unit 11 inputs a second excitation electric current instruction i.sub.d**, the electric current detection value i.sub.dc of the d axis, the electric current detection value i.sub.qc of the q axis, an estimation frequency ω.sub.r{circumflex over ( )}, and an output frequency ω.sub.1*. In the feedback control calculation unit 11, feedback control of the velocity control, the electric current control, and the vector control is calculated. The estimation frequency ω.sub.r{circumflex over ( )} is used as a velocity estimation value.

(84) The second electric current instruction value i.sub.d** of the d axis that is the second excitation electric current instruction is a variable value, and the secondary magnetic flux ϕ.sub.2d of the d axis that is variable is generated in the induction motor 1.

(85) In the velocity control, an electric current instruction value i.sub.q* of the q axis that is a torque electric current instruction is calculated in accordance with (Expression 16) by the proportional control and the integral control such that the estimation frequency ω.sub.r{circumflex over ( )} follows the frequency instruction value ω.sub.r*.

(86) $\begin{array}{cc}\left[\mathrm{Expression}16\right]& \end{array}$$\begin{array}{cc}{i}_q^{*}=\left({\omega }_r^{*}-{\omega }_r^{.Math.}\right)\left(K_{\mathrm{sp}}+\frac{K_{\mathrm{si}}}{s}\right)& \left(16\right)\end{array}$

(87) Here, K.sub.sp is a proportional gain in the velocity control, and K.sub.si is an integral gain in the velocity control.

(88) In the vector control, the voltage instruction values v.sub.dc* and v.sub.qc* are calculated in accordance with (Expression 17) by using the electric current instruction value i.sub.d** of the d axis that is the second excitation electric current instruction, the electric current instruction value i.sub.q* of the q axis, an electric circuit constant (R.sub.1, L.sub.σ, M, and L.sub.2) of the induction motor 1, the secondary magnetic flux instruction value ϕ.sub.2d* of the d axis, and the output frequency ω.sub.1*.

(89) $\begin{array}{cc}\left[\mathrm{Expression}17\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{*}=R_1^{*}{i}_d^{**}-{\omega }_1^{*}{L}_{\sigma }^{*}\frac{1}{1+T_{\mathrm{acr}s}}{i}_q^{*}\\ v_{\mathrm{qc}}^{*}=R_1^{*}{i}_q^{*}+{\omega }_1^{*}\left(L_{\sigma }^{*}\frac{1}{1+T_{\mathrm{acr}s}}{i}_d^{**}+\frac{M^{*}}{L_2^{*}}{\varphi }_{2d}^{*}\right)\end{array}\right]& \left(17\right)\end{array}$

(90) Here, T.sub.acr is a time constant corresponding to an electric current control delay, R.sub.1 is a primary resistance value, L.sub.σ is a leakage inductance value, M is a mutual inductance value, and L.sub.2 is a secondary inductance value.

(91) In the electric current control, a voltage correction value Δv.sub.dc of the d axis and a voltage correction value Δv.sub.qc of the q axis are calculated in accordance with (Expression 18) by the proportional control and the integral control such that the electric current detection value i.sub.dc of the d axis and the electric current detection value i.sub.qc of the q axis that are each component follow the second electric current instruction value i.sub.d** of the d axis and the electric current instruction value i.sub.q* of the q axis.

(92) $\begin{array}{cc}\left[\mathrm{Expression}18\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}\Delta v_{\mathrm{dc}}=\left(K_{\mathrm{pd}}+\frac{K_{\mathrm{id}}}{s}\right)\left(i_d^{**}-i_{\mathrm{dc}}\right)\\ \Delta v_{\mathrm{qc}}=\left(K_{\mathrm{pq}}+\frac{K_{\mathrm{iq}}}{s}\right)\left(i_q^{*}-i_{\mathrm{qc}}\right)\end{array}\right]& \left(18\right)\end{array}$

(93) Here, K.sub.pd is a proportional gain of the d axis in the electric current control, K.sub.id is an integral gain of the d axis in the electric current control, K.sub.pq is a proportional gain of the q axis in the electric current control, and K.sub.iq is an integral gain of the q axis in the electric current control.

(94) Further, a voltage instruction value v.sub.dc** of the d axis and a voltage instruction value v.sub.qc** of the q axis are calculated in accordance with (Expression 19).

(95) $\begin{array}{cc}\left[\mathrm{Expression}19\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{**}=v_{\mathrm{dc}}^{*}+\Delta v_{\mathrm{dc}}\\ v_{\mathrm{qc}}^{**}=v_{\mathrm{qc}}^{*}+\Delta v_{\mathrm{qc}}\end{array}\right]& \left(19\right)\end{array}$

(96) FIG. 10 is a function block diagram of the excitation electric current instruction calculation unit 12.

(97) In an absolute value calculation unit 121, the electric current instruction value i.sub.q* of the q axis is input, and an absolute value |i.sub.q*| of i.sub.q* is output. In an addition unit 122, a first electric current instruction value i.sub.d* of the d axis and a correction electric current instruction Δi.sub.3* are added, and the second electric current instruction value i.sub.3** of the d axis is output.

(98) In a subtraction unit 123, the absolute value |i.sub.q*| of i.sub.q* and the second electric current instruction value i.sub.3** of the d axis are input, and an electric current instruction deviation Δi* is output. The electric current instruction deviation Δi* is input to a proportional calculation unit 124 having a constant of a proportional gain K.sub.p3 and an integral calculation unit 125 having a constant of K.sub.i3, and an output signal thereof is input to an addition unit 126.

(99) In the addition unit 122, the second electric current instruction value i.sub.d** of the d axis is output by calculation represented in (Expression 20).
[Expression 20]
i.sub.d**=i.sub.d*+Δi.sub.d*  (20)

(100) In the frequency estimation calculation unit 13, the velocity estimation value (the estimation frequency) ω.sub.r{circumflex over ( )} and the output frequency ω.sub.1* of the induction motor 1 are calculated by (Expression 21).

(101) 0$\begin{array}{cc}\left[\mathrm{Expression}21\right]& \end{array}$$\begin{array}{cc}\begin{array}{c}{\omega }_r^{^}=\frac{1}{1+T_{\mathrm{obs}S}}.Math.\left(\frac{v_{\mathrm{qc}}^{**}-{\omega }_1^{*}{L}_{\sigma }\frac{1}{1+T_{\mathrm{acr}S}}{i}_d^{**}-\left(R{i}_{\mathrm{qc}}+L_{\sigma S}\right)i_{\mathrm{qc}}}{\frac{M}{L_2}{\varphi }_{2d}}\right)\\ {\omega }_1^{*}={\omega }_r^{^}+\frac{1}{T_2}\frac{i_q^{*}}{i_d^{**}}\end{array}\}& \left(21\right)\end{array}$

(102) Here, R* is an addition value of primary conversion of the primary resistance value and secondary resistance, T.sub.obs is an observer time constant, and T.sub.2 is a secondary time constant value.

(103) Even in this example in which the velocity control, the electric current control, and the vector control are calculated instead of the V/f control, control is performed such that the second electric current instruction value i.sub.d** of the d axis follows the absolute value of the electric current instruction value i.sub.q* of the q axis.

(104) According to such control, a highly efficient operation can be attained. Note that, in this example, the velocity estimation value (the estimation frequency) ω.sub.r{circumflex over ( )} is calculated, but a velocity detection value ω.sub.r may be detected by attaching an encoder to the induction motor 1.

(105) In Example 3, as with the example of FIG. 5, the gain K.sub.p1 of the proportional calculation and the gain K.sub.i2 of the integral calculation are changed approximately in proportion to the size of the frequency instruction value ω.sub.r*, and thus, in the low-velocity area to the high-velocity area, the stability of the feedback loop relevant to the highly efficient control can be improved, and the motor electric current value can be minimized within a shorter period of time.

Example 4

(106) FIG. 11 is a configuration diagram of an induction motor driving system including a power conversion device and the induction motor 1 in Example 4.

(107) In this example, this example is applied to the induction motor driving system.

(108) In FIG. 11, the induction motor 1 that is the constituent, the coordinate conversion unit 5, the V/f control calculation unit 6, the voltage instruction correction calculation unit 7, the phase calculation unit 8, the addition unit 9, and the coordinate conversion unit 10 are identical to those in FIG. 1.

(109) The induction motor 1 that is the constituent of FIG. 1 is driven by the power conversion device 20. In the power conversion device 20, the coordinate conversion unit 5, the V/f control calculation unit 6, the voltage instruction correction calculation unit 7, the phase calculation unit 8, the addition unit 9, and the coordinate conversion unit 10 of FIG. 1 are mounted as software 20a, and the power converter 2, the direct-current power source 3, and the electric current detector 4 of FIG. 1 are mounted as hardware.

(110) In addition, the voltage instruction correction calculation unit 7 of the software 20a is capable of setting or changing a predetermined proportional gain 25 and a predetermined integral gain 26 by a higher-level device such as a digital operator 20b, a personal computer 28, a tablet 29, and a smart phone 30.

(111) In a case where this example is applied to the induction motor driving system, a highly efficient operation can be attained in the V/f control or velocity sensorless vector control. In addition, the proportional gain 25 that is a predetermined parameter and the integral gain 26 that is a predetermined parameter may be set on a programmable logic controller, a local area network that is connected to a computer, and a fieldbus of a control device.

(112) Further, this example is disclosed by using Example 1, but Example 2 or Example 3 may be used. In Example 1 and Example 2 described above, the V/f control is performed.

(113) In Example 3, the voltage correction values Δv.sub.dc and Δv.sub.qc are prepared from the second electric current instruction value i.sub.d** of the d axis, the electric current instruction value i.sub.q* of the q axis, the electric current detection value i.sub.dc of the d axis, and the electric current detection value i.sub.qc of the q axis, and calculation represented in (Expression 19) for adding the voltage correction value and the voltage instruction value of the vector control is performed.

(114) As another method, intermediate electric current instruction values i.sub.d*** and i.sub.q** represented in (Expression 22) that are used in vector control calculation are prepared from the second electric current instruction value i.sub.d** of the d axis, the electric current instruction value i.sub.q* of the q axis, and the electric current detection values i.sub.dc and i.sub.qc. Then, vector control calculation represented in (Expression 23) may be performed by using the output frequency value ω.sub.1* and the electric circuit constant of the induction motor 1.

(115) $\begin{array}{cc}\left[\mathrm{Expression}22\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{i}_d^{***}=\left(K_{\mathrm{pd}1}+\frac{K_{\mathrm{id}1}}{s}\right)\left(i_d^{**}-i_{\mathrm{dc}}\right)\\ i_q^{**}=\left(K_{\mathrm{pq}1}+\frac{K_{\mathrm{iq}1}}{s}\right)\left(i_q^{*}-i_{\mathrm{qc}}\right)\end{array}\right]& \left(22\right)\end{array}$

(116) Here, K.sub.pd1 is a proportional gain of the d axis in the electric current control, K.sub.id1 is an integral gain of the d axis in the electric current control, K.sub.pq1 is a proportional gain of the q axis in the electric current control, K.sub.iq1 is an integral gain of the q axis in the electric current control, T.sub.d is an electric time constant (L.sub.σ/R) of the d axis, and T.sub.q is an electric time constant (L.sub.σ/R) of the q axis.

(117) $\begin{array}{cc}\left[\mathrm{Expression}23\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{***}=R_1.Math.i_d^{***}-{\omega }_1^{*}.Math.L_{\sigma }\frac{1}{1+T_{d}s}{i}_q^{**}\\ v_{\mathrm{qc}}^{***}=R_1.Math.i_q^{**}+{\omega }_1^{*}.Math.L_{\sigma }.Math.\frac{1}{1+T_{q}s}{i}_d^{***}+{\omega }_1^{*}.Math.\frac{M}{L_2}.Math.{\varphi }_{2d}^{*}\end{array}\right]& \left(23\right)\end{array}$

(118) Alternatively, a voltage correction value Δv.sub.d_p* of a proportional calculation component of the d axis, a voltage correction value Δv.sub.d_i* of an integral calculation component of the d axis, a voltage correction value Δv.sub.q p* of a proportional calculation component of the q axis, and a voltage correction value Δv.sub.q of an integral calculation component of a q axis, which are used in the vector control calculation, are prepared from the second electric current instruction value i.sub.d** of the d axis, the electric current instruction value i.sub.q* of the q axis, the electric current detection value i.sub.dc of the d axis, and the electric current detection value i.sub.qc of the q axis by (Expression 24). Then, vector control calculation represented in (Expression 25) using the output frequency value ω.sub.1* and the electric circuit constant of the induction motor 1 may be performed.

(119) $\begin{array}{cc}\left[\mathrm{Expression}24\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}\Delta v_{\mathrm{d\_}p}^{*}=K_{\mathrm{pd}2}\left(i_d^{**}-i_{dc}\right)\\ \Delta v_{\mathrm{d\_}i}^{*}=\frac{K_{\mathrm{id}2}}{s}\left(i_d^{**}-i_{dc}\right)\\ \Delta v_{\mathrm{q\_}p}^{*}=K_{\mathrm{pq}2}\left(i_q^{*}-i_{qc}\right)\\ \Delta v_{q\_i}^{*}=\frac{K_{\mathrm{iq}2}}{s}\left(i_q^{*}-i_{qc}\right)\end{array}\right]& \left(24\right)\end{array}$

(120) Here, K.sub.pd2 is a proportional gain of the d axis in the electric current control, K.sub.id2 is an integral gain of the d axis in the electric current control, K.sub.pq2 is a proportional gain of the q axis in the electric current control, and K.sub.iq2 is an integral gain of the q axis in the electric current control.

(121) $\begin{array}{cc}\left[\mathrm{Expression}25\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{****}=\left(\Delta v_{d\_p}^{*}+\Delta v_{d\_i}^{*}\right)-{\omega }_1^{*}.Math.\frac{L_{\sigma }}{R_1}.Math.\Delta v_{q\_i}^{*}\\ v_{\mathrm{qc}}^{****}=\left(\Delta v_{q\_p}^{*}+\Delta v_{q\_i}^{*}\right)+{\omega }_1^{*}.Math.\frac{L_{\sigma }}{R_1}.Math.\Delta v_{d\_i}^{*}+{\omega }_1^{*}.Math.\frac{M}{L_2}.Math.{\varphi }_{2d}^{*}\end{array}\right]& \left(25\right)\end{array}$

(122) In addition, the calculation of an output frequency instruction value ω.sub.1** represented in (Expression 26) and vector control calculation represented in (Expression 27) may be performed by using the second electric current instruction value i.sub.d** of the d axis, a primary delay signal i.sub.qctd of the electric current detection value i.sub.qc of the q axis, the frequency instruction value (of, and the electric circuit constant of the induction motor 1.

(123) $\begin{array}{cc}\left[\mathrm{Expression}26\right]& \end{array}$$\begin{array}{cc}{\omega }_1^{**}={\omega }_r^{*}+\frac{1}{T_2.Math.i_d^{**}}.Math.i_{\mathrm{qc}}& \left(26\right)\end{array}$

(124) $\begin{array}{cc}\left[\mathrm{Expression}27\right]& \end{array}$$\begin{array}{cc}\left[\begin{array}{c}{v}_{\mathrm{dc}}^{****}=R_1.Math.i_d^{**}-{\omega }_1^{**}.Math.L_{\sigma }.Math.i_{\mathrm{qctd}}\\ v_{\mathrm{qc}}^{****}=R_1.Math.i_{\mathrm{qctd}}+{\omega }_1^{**}.Math.L_{\sigma }.Math.i_d^{*}+{\omega }_1^{**}.Math.\frac{M}{L_2}.Math.{\varphi }_{2d}^{*}\end{array}\right]& \left(27\right)\end{array}$

(125) Here, i.sub.qctd is a signal obtained by i.sub.qc passing through a primary delay filter.

(126) In Example 1 to Example 3 described above, the frequency estimation calculation unit 13 calculates the estimation frequency ω.sub.r{circumflex over ( )} (the velocity estimation value) and the output frequency ω.sub.1*, in accordance with (Expression 21), but electric current control and velocity estimation may be used together in q-axis electric current control. As represented in (Expression 28), the velocity estimation value ω.sub.r{circumflex over ( )}{circumflex over ( )} is calculated.

(127) $\begin{array}{cc}\left[\mathrm{Expression}28\right]& \end{array}$$\begin{array}{cc}{\omega }_r^{^^}=\left(K_{\mathrm{pq}3}+\frac{K_{\mathrm{iq}3}}{s}\right)\left(i_q^{*}-i_{\mathrm{qc}}\right)& \left(28\right)\end{array}$

(128) Here, K.sub.pq3 is a proportional gain in the electric current control, and K.sub.iq3 is an integral gain in the electric current control.

(129) Further, the feedback control calculation unit 11 in Example 3 calculates the velocity estimation value, in accordance with (Expression 21) or (Expression 28), but the velocity detection value may be calculated from an encoder signal by attaching an encoder to the induction motor 1.

(130) Note that, in Example 1 to Example 4, a switching element configuring the power converter 2 may be a silicon (Si) semiconductor element, or may be a wide band gap semiconductor element such as silicon carbide (SiC) or gallium nitride (GaN).

REFERENCE SIGNS LIST

(131) 1 Induction motor 2 Power converter 3 Direct-current power source 4 Electric current detector 5 Coordinate conversion unit 6 V/f control calculation unit 7 Voltage instruction correction calculation unit 8 Phase calculation unit 9 Addition unit 10 Coordinate conversion unit 11 Feedback control calculation unit 12 Excitation electric current instruction calculation unit 13 Frequency estimation calculation unit 20 Power conversion device