CURRENT TRANSFORMER

Description

TECHNICAL FIELD

[0001] The present invention relates to a power conversion device that is involved in drive control of the power conversion device driving an induction motor, reduces an output current, and operates with high efficiency.BACKGROUND ART

[0002] As a high-efficiency control method for an induction motor, as described in JP 2010-220331 A (Patent Document 1), there is a technology of changing first and second magnetic flux commands depending on whether an excitation current command is equal to or less than a saturation current limit threshold value or exceeds the saturation current limit threshold value.CITATION LISTPATENT DOCUMENT

[0003] Patent Document 1: JP 2010-220331 A Patent Document 2: US 2007 / 018606 A1 Patent Document 3: EP 3 509 211 A1 SUMMARY OF THE INVENTIONPROBLEMS TO BE SOLVED BY THE INVENTION

[0004] In the method described in Patent Document 1, a magnetic flux saturation point is provided, and slopes of the first and second magnetic flux commands are approximated by two points depending on whether the excitation current command is equal to or less than a saturation current limit threshold value or exceeds the saturation current limit threshold value. For this reason, an output current may not be minimized in an induction motor of another model. Patent Document 2 discloses a control method and a controller for an a.c. motor without using a speed sensor in which the speed estimated value or the magnetic flux estimated value of an all-dimensional magnetic flux speed observer can be made to correspond to that of an actual a.c. motor. Patent Document 3 discloses an inverter control apparatus and a motor drive system which controls an electric current and includes an inverter main circuit, an electric-current detector, a command generator and an electric-current controller.

[0005] An object of the invention is to provide a power conversion device capable of reducing an output current even in a general-purpose inverter and realizing a highly efficient output current property.SOLUTIONS TO PROBLEMS

[0006] The above cited problem is solved in accordance with the appended set of claims. An example of a "power conversion device" of the invention for solving the above problems is a power conversion device for driving and controlling an induction motor, including a voltage command correction computation unit for computing a voltage command correction value for correcting a torque axis voltage command based on a torque axis current detection value and a magnetic flux axis current detection value, in which the voltage command correction computation unit computes the voltage command correction value based on a deviation between the magnetic flux axis current detection value and a corrected torque current obtained by multiplying an absolute value of a torque axis current detection value by a magnetic flux saturation coefficient changing according to an excitation current.EFFECTS OF THE INVENTION

[0007] According to the invention, it is possible to provide a power conversion device capable of reducing an output current and realizing a highly efficient output current property.

[0008] Issues, configurations, and effects other than those described above will be clarified by the description of the following embodiments.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Fig. 1 is a configuration diagram of a power conversion device according to a first embodiment. Fig. 2 is a configuration diagram of a voltage command correction computation unit according to the first embodiment. Fig. 3 is a current vector diagram according to the first embodiment. Fig. 4 is a relationship diagram of a d-axis current detection value and a magnetic flux saturation coefficient according to the first embodiment. Fig. 5 is a diagram illustrating an actual measurement result of an output current using the invention. Fig. 6 is a configuration diagram of a modification of a voltage command correction computation unit according to the first embodiment. Fig. 7 is a configuration diagram for confirming a manifestation according to the first embodiment. Fig. 8 is a configuration diagram of a power conversion device according to a second embodiment. Fig. 9 is a configuration diagram of a voltage command correction computation unit according to the second embodiment. Fig. 10 is a configuration diagram of a power conversion device according to a third embodiment. Fig. 11 is a configuration diagram of an excitation current command correction computation unit according to the third embodiment. Fig. 12 is a configuration diagram of a power conversion device according to a fourth embodiment. MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, embodiments of the invention will be described in detail with reference to the drawings. Note that a common configuration in each figure for describing the embodiment is given the same name and reference symbol, and a repeated description thereof will be omitted. Moreover, each embodiment described below is not limited to the illustrated example.First embodiment

[0011] Fig. 1 is a configuration diagram of a power conversion device according to a first embodiment. The present embodiment is applied to a power conversion device of V / f control.

[0012] An induction motor 1 generates magnetic flux by a current (excitation current) of a magnetic flux axis (d-axis) component, and generates torque by a current (torque current) of a torque axis (q-axis) component orthogonal to the magnetic flux axis.

[0013] The power converter 2 includes, for example, an inverter, outputs a voltage value proportional to three-phase AC voltage commands V u *, V v *, and V w *, and changes an output voltage value and an output frequency value of the induction motor 1.

[0014] A DC power supply 3 supplies a DC voltage E DC to the power converter 2.

[0015] A current detector 4 outputs i uc , i vc , and i wc , which are detection values of three-phase alternating currents i u , i v , and i w of the induction motor 1. The current detector 4 may detect line currents of two of the three phases of the induction motor 1, for example, the u-phase and the w-phase, and the v-phase line current may be obtained as i v = -(i u + i w ) from an AC condition (i u + i v + i w = 0).

[0016] A coordinate conversion unit 5 outputs a d-axis current detection value (excitation current detection value) i dc and a q-axis current detection value (torque current detection value) i qc from a phase computation value θ dc and the detection values i uc , i vc , and i wc of the three-phase alternating currents i u , i v , and i w .

[0017] A V / f control computation unit 6 outputs a d-axis voltage command V dc * which is "0" (zero) and a q-axis voltage command V qc * proportional to a frequency command ω r * based on the frequency command ω r *.

[0018] A voltage command correction computation unit 7 outputs a q-axis voltage command correction value ΔV qc * computed based on a q-axis current detection value i qc and a d-axis current detection value i dc .

[0019] A phase computation unit 8 integrates the frequency command ω r * and outputs the phase computation value θ dc .

[0020] An addition unit 9 adds the q-axis voltage command V qc * and the q-axis voltage command correction value ΔV qc *, and outputs a q-axis correction voltage command V qc **.

[0021] A coordinate conversion unit 10 outputs the three-phase AC voltage commands V u *, V v *, and V w * from the d-axis voltage command V dc *, the q-axis correction voltage command V qc **, and the phase computation value θ dc .

[0022] First, a description will be given of a basic operation of a V / f control method when the voltage command correction computation unit 7, which is a feature of the present embodiment, is used.

[0023] The V / f control computation unit 6 outputs the d-axis voltage command V dc *, which is "0", and the q-axis voltage command V qc * using the frequency command ω r * and the DC voltage E DC according to (Equation 1). [Equation 1] Vdc * = 0 Vqc * = 2 3 ⋅ E DC / 2 ω r _ max ⋅ ω r *

[0024] Here, ω r_max is a base angular frequency.

[0025] The phase computation unit 8 computes a phase θ dc of the magnetic flux axis of the induction motor 1 from the frequency command ω r * according to (Equation 2). [Equation 2] θ dc = 1 s ⋅ ω r *

[0026] Fig. 2 illustrates a block configuration of the voltage command correction computation unit 7 which is a feature of the present embodiment.

[0027] In an absolute value computation unit 71, the q-axis current detection value (torque current detection value) i qc is input, and the absolute value |i qc | of i qc is output.

[0028] A relationship between the excitation current and a mutual inductance value M^ of the induction motor is stored in a table 72, the d-axis current detection value (excitation current detection value) i dc is input thereto, and a corresponding mutual inductance value M^ is output therefrom. The mutual inductance value M^ is input to a low-pass filter 73, and M^^, which is a primary delay signal thereof, is output therefrom. A setting unit 74 outputs a mutual inductance value M 0 of the induction motor, which is a reference value when measured at a base frequency. The mutual inductance value M^^ and the reference mutual inductance value M 0 are input to a division unit 75, and a magnetic flux saturation coefficient G is output therefrom by computation shown in (Equation 3). [Equation 3] G = M ∧ ∧ M 0

[0029] Note that the table 72 is prepared in advance by changing the exciting current and measuring the mutual inductance of the induction motor. Further, the table 72 of Fig. 2 illustrates the relationship between the excitation current and the mutual inductance M^, and may be a table illustrating the relationship between the excitation current and the magnetic flux saturation coefficient G by computing the magnetic flux saturation coefficient G from the mutual inductance using (Equation 3). Further, instead of referring to the table, the magnetic flux saturation coefficient G may be computed by an approximate mathematical expression according to the excitation current.

[0030] The absolute value |i qc | of the q-axis current detection value i qc and the magnetic flux saturation coefficient G are input to a multiplication unit 76, and a q-axis corrected current (corrected torque current) i qc ' shown in (Equation 4) is output therefrom. [Equation 4] i qc ′ = i qc ⋅ G

[0031] The q-axis corrected current i qc ' and the d-axis current detection value i dc are input to the subtraction unit 77, and a current deviation Δi is output therefrom. The current deviation Δi is input to a proportional computation unit 78 having a constant of the proportional gain K p1 and an integral computation unit 79 having a constant of the integral gain K i1 , and output signals thereof are output to an addition unit 791. As a result, the voltage command correction value ΔV qc * of the q-axis voltage command V qc * is computed by computation shown in (Equation 5). [Equation 5] Δv qc * = K pl + K il s ⋅ Δi

[0032] A principle that the invention becomes highly efficient will be described. Fig. 3 illustrates a current vector diagram of the induction motor. When a direction of the magnetic flux generated by an excitation current i d is set to the d-axis, a direction π / 2 ahead of the direction is set to the q-axis which is a torque axis, and a phase angle between an output current i 1 and the excitation current i d is set to θ i , the excitation current i q and a torque current i q are given by Equation (6). [Equation 6] i d = i 1 cos θ i i q = i 1 sin θ i

[0033] When the phase angle θ 1 = π / 4 in (Equation 6), the output current i 1 becomes the minimum in a relationship of (Equation 7) at the same torque. [Equation 7] i d = i q = 1 2 i 1

[0034] The torque of the induction motor is given by (Equation 8) . [Equation 8] τ = 3 2 P m M L 2 ϕ 2 d i q − ϕ 2 q i d

[0035] Here, M is the mutual inductance, L 2 is the secondary inductance, ϕ 2d is the d-axis magnetic flux, and ϕ 2q is the q-axis magnetic flux.

[0036] Here, an ideal condition of the magnetic flux in the motor control is (Equation 9). [Equation 9] ϕ 2 d = Mi d ϕ 2 q = 0

[0037] When (Equation 9) is substituted into (Equation 8), (Equation 10) is obtained. [Equation 10] τ = 3 2 P m M L 2 ϕ 2 d i q = 3 2 P m M 2 L 2 i d i q

[0038] Further, when (Equation 7) is substituted into (Equation 10), (Equation 11) which is a torque equation having a minimum output current is obtained. [Equation 11] τ = 3 4 P m M 2 L 2 i 1 2

[0039] However, in practice, the mutual inductance M has a saturation characteristic that changes according to the current value. The d-axis magnetic flux ϕ 2d may not increase due to a saturation phenomenon, and a minimum point deviation of the output current i 1 is conceivable in a state where the d-axis current (excitation current) i d excessively flows. Therefore, the invention introduces the magnetic flux saturation coefficient G as described above, and devises so that the d-axis current (excitation current) i d does not flow more than necessary.

[0040] In the invention, to support both power running / regenerative operation, the q-axis voltage command V qc * is corrected so that a q-axis corrected current i qc' obtained by multiplying the absolute value |i qc | of the q-axis current detection value i qc by the magnetic flux saturation coefficient G and the d-axis current detection value i dc follow.

[0041] Characteristics of the d-axis current detection value i dc and the magnetic flux saturation coefficient G according to the present embodiment are illustrated in Fig. 4. This figure shows a computation result of Equation (3), and is an example of measurement at 16 points in the present embodiment. As illustrated in the figure, the magnetic flux saturation coefficient G is a constant value in a range where the d-axis current detection value i dc is small, and gradually decreases according to the d-axis current detection value i dc when a certain value is exceeded. It can be seen that the characteristics cannot be approximated by two points.

[0042] Fig. 5 illustrates actual measurement results using the invention. A horizontal axis illustrates the magnetic flux saturation coefficient G, and a vertical axis illustrates the magnitude of the output current of the induction motor. In a case where (Equation 3) is not computed when (A) G = 0.0 does not apply the invention, and (Equation 4) is computed with (B) G = 0.3, (C) G = 0.6, (D) G = 0.8, and (E) G = 1.0, results of measuring output currents are illustrated. The output current when G = 0.0 is standardized as 1.0. G = 1.0 is a case where magnetic flux saturation is not taken into consideration, and it can be seen that the output current at G = 1.0 is larger than the output currents at (C) G = 0.6 and (D) G = 0.8. (F) is a case where (Equation 3) of the invention is computed. In (F), the output current is minimized, and the effect of the invention is clear.

[0043] According to the present embodiment, by correcting the q-axis voltage command V qc * so that the q-axis corrected current i qc ' obtained by multiplying the absolute value |i qc | of the q-axis current detection value i qc by the magnetic flux saturation coefficient G that changes according to the excitation current and the d-axis current detection value i dc follow, it is possible to realize the highly efficient current property with less current value when compared to V / f control at (A) G = 0.0.

[0044] Further, in the above embodiment, in the voltage command correction computation unit 7, the gains (K p1 , K i1 ) of the proportional computation and the integral computation are fixed values. However, as in a modification of Fig. 6, the gains may be changed according to frequency command ω r *.

[0045] The voltage command correction computation unit 7a of Fig. 6 corresponds to the voltage command correction computation unit 7 of Fig. 2. In addition, reference symbols 7a1, 7a2, 7a3, 7a4, 7a5, 7a6, 7a7, and 7a91 in Fig. 6 are the same as reference symbols 71, 72, 73, 74, 75, 76, 77, and 791 in Fig. 2.

[0046] In Fig. 6, Δi which is a deviation between the q-axis corrected current i qc ' and the d-axis current detection value i dc is input to the proportional computation unit 7a8 having the proportional gain K p1 that changes according to the magnitude of the frequency command ω r * and the integral computation unit 7a9 having the integral gain K i1 , and output values thereof are added by the addition unit 7a91 and output as a voltage command correction value ΔV qc ** of the q-axis voltage command V qc *. In the same figure, by changing K p1 and K i1 substantially in proportional to the magnitude of the frequency command ω r *, an action of the d-axis current detection value i dc following the q-axis corrected current i qc ' changes according to a frequency. That is, the output current can be minimized in a shorter time by increasing response of stability of the feedback loop related to the high efficiency control in a low speed range to a high speed range.

[0047] Here, a verification method when the present embodiment is adopted will be described with reference to Fig. 7. A current detector 21 is attached to a power conversion device 20 that drives the induction motor 1, and an encoder 22 is attached to a shaft of the induction motor 1.

[0048] Three-phase AC current detection values (i uc , i vc , i wc ) which are the outputs of the current detector 21 and a position θ which is an output of the encoder are input to a calculation unit 23 of a vector current component, and the calculation unit 23 calculates vector current components i dc and i qc according to (Equation 12). [Equation 12] i dc i qc = 2 3 cos θ d sin θ d − sin θ d cos θ d 1 − 1 / 2 − 1 / 2 0 3 / 2 − 3 / 2 i uc i vc i wc [Equation 13] G ∧ = i dc i qc

[0049] A computation unit 24 of the magnetic flux saturation coefficient computes an estimated value G^ of the magnetic flux saturation coefficient G according to (Equation 13). When the estimated value G^ is the same as the magnetic flux saturation coefficient G measured by the inverter using the invention, it is clear that the invention is adopted.Second embodiment

[0050] Fig. 8 is a configuration diagram of a power conversion device according to a second embodiment. The present embodiment is applied to the power conversion device of the V / f control. The first embodiment is a method in which the q-axis corrected current (corrected torque current) i qc ' is computed and the excitation current i d is followed. However, the present embodiment is a method in which the absolute value |P c | of active power is followed by the absolute value |Q c | of reactive power.

[0051] In the figure, reference symbols 1 to 6 and 8 to 10 are the same as those of Fig. 1.

[0052] A voltage command correction computation unit 7b outputs a voltage command correction value ΔV qc *** for correcting the q-axis voltage command V qc * based on corrected active power P c ' obtained by multiplying the absolute value |P c | of the active power computation value by the magnetic flux saturation coefficient G and the absolute value |Q c | of the reactive power computation value.

[0053] Fig. 9 illustrates a configuration of the voltage command correction computation unit 7b. Reference symbols 7b2, 7b3, 7b4, 7b5, 7b6, 7b7, 7b8, 7b9, and 7b91 are the same as reference symbols 72, 73, 74, 75, 76, 77, 78, 79, and 791 of Fig. 2.

[0054] The q-axis voltage command V qc ** and the q-axis current detection value i qc are input to a multiplication unit 7b92, and the multiplication unit 7b92 outputs an active power computation value P c which is a multiplication value thereof. The active power computation value P c which is an output of the multiplication unit 7b92 is input to an absolute value computation unit 7b93, and the absolute value computation unit 7b93 outputs the absolute value |P c | of P c .

[0055] The absolute value |P c | of the active power computation value P c and the magnetic flux saturation coefficient G are input to the multiplication unit 7b6, and the corrected active power P c ' is output therefrom.

[0056] The q-axis voltage command V qc ** and the d-axis current detection value i dc are input to a multiplication unit 7b94, and the multiplication unit 7b94 outputs the reactive power computation value Q c which is a multiplication value thereof. The reactive power computation value Q c is input to an absolute value computation unit 7b95, and the absolute value computation unit 7b95 outputs the absolute value |Q c |.

[0057] The corrected active power P c ' and the absolute value |Q c | of the reactive power computation value Q c are input to the subtraction unit 7b7, and a power deviation Δp is output therefrom.

[0058] The power deviation Δp is input to the proportional computation unit 7b8 having a constant of the proportional gain K p2 and the integral computation unit 7b9 having a constant of the integral gain K i2 , and output signals thereof are output to the addition unit 7b91. By computation shown in a result (Equation 14) thereof, the voltage command correction value ΔV qc *** of the q-axis voltage command V qc ** is computed. [Equation 14] Δv qc * * * = K p 2 + K i 2 s ⋅ Δp

[0059] Here, a principle that the present embodiment is highly efficient will be described. When the d-axis voltage command V dc * = 0, the active power P c computed on a control axis is given by (Equation 15). [Equation 15] P c = v qc i qc = R 1 i qc + ω 1 L σ i dc + ω 1 M L 2 ϕ 2 d i qc = R 1 i qc 2 + ω 1 L σ i dc i qc + ω 1 M L 2 ϕ 2 d i qc

[0060] The absolute value of the active power P c is (Equation 16) . [Equation 16] P c = R 1 i qc 2 + ω 1 L σ i dc i qc + ω 1 M L 2 ϕ 2 d i qc

[0061] When the absolute value of the active power P c is multiplied by the magnetic flux saturation coefficient G, (Equation 17) is given. [Equation 17] P c ′ = G R 1 i qc 2 + ω 1 L σ i dc i qc + ω 1 M L 2 ϕ 2 d i qc

[0062] Further, the reactive power Q c computed on the control axis is given by (Equation 18). [Equation 18] Q c = − v qc i dc = − R 1 i qc + ω 1 L σ i dc + ω 1 M L 2 ϕ 2 d i dc = − R 1 i qc i dc − ω 1 L σ i dc 2 − ω 1 M L 2 ϕ 2 d i dc

[0063] The absolute value of the reactive power Q c is (Equation 19) . [Equation 19] Q c = − R 1 i qc i dc − ω 1 L σ i dc 2 − ω 1 M L 2 ϕ 2 d i dc

[0064] A q-axis voltage command value V qc * is corrected using P c ' and |Q c |. When a control operation is performed so that (Equation 17) = (Equation 19), (Equation 20) is given. [Equation 20] G R 1 i qc 2 + ω 1 L σ i dc i qc + ω 1 M L 2 ϕ 2 d i qc = − R 1 i qc i dc − ω 1 L σ i dc 2 − ω 1 M L 2 ϕ 2 d i dc

[0065] As a result, highly efficient operation similar to that of the first embodiment can be implemented.

[0066] According to the present embodiment, by correcting the q-axis voltage command V qc * so that the corrected active power P c ' obtained by multiplying the absolute value |P c | of the active power P c by the magnetic flux saturation coefficient G that changes according to the excitation current and the absolute value |Q c | of the reactive power follow, it is possible to realize a highly efficient current property with a smaller current value.Third embodiment

[0067] Fig. 10 is a configuration diagram of a power conversion device according to a third embodiment. The present embodiment is applied to the power conversion device of vector control. The first and second embodiments are a method in which the induction motor 1 is V / f-controlled. However, the present embodiment is a method of performing computation of speed control, current control, and vector control.

[0068] In the figure, reference symbols 1 to 5, 8 and 10 are the same as those of Fig. 1.

[0069] A corrected excitation current command i d **, d-axis and q-axis current detection values i dc and i qc , a frequency command ω r *, an estimated frequency ω r ^, and an output frequency ω 1 * are input to a feedback control computation unit 11. In the feedback control computation unit 11, feedback control of speed control, current control, and vector control is computed.

[0070] i d ** which is the corrected excitation current command is a variable value, and a variable d-axis magnetic flux ϕ 2d is generated in the induction motor 1.

[0071] In the speed control, the q-axis current command i q *, which is a torque current command, is computed according to (Equation 21) by proportional control and integral control so that the estimated frequency ω r ^ follows the frequency command ω r *. [Equation 21] i q * = ω r * − ω r ∧ K sp + K si S

[0072] Here, K sp : proportional gain of speed control, K si : integral gain of speed control.

[0073] In the vector control, the voltage commands V dc * and V qc * are computed according to (Equation 22) using the d-axis and q-axis current commands i d ** and i q *, electric circuit constants (R 1 , L σ , M, L 2 ) of the induction motor 1, the d-axis magnetic flux command ϕ 2d *, and the output frequency ω 1 *. [Equation 22] v dc * = R 1 * i d * * − ω 1 * L σ * 1 1 + Tacr s i q * v qc * = R 1 * i q * + ω 1 * L σ * 1 1 + Tacr s i d * * + M * L 2 * ϕ 2 d *

[0074] Here, T acr : time constant corresponding to current control delay, R 1 : primary resistance value, L σ : leakage inductance value, M: mutual inductance value, L 2 : secondary side inductance value.

[0075] In the current control, the d-axis and q-axis voltage correction values ΔV dc and ΔV qc are computed according to (Equation 23) by proportional control and integral control so that the current detection values i dc and i qc of each component follow the d-axis and q-axis current commands i d ** and i q *. [Equation 23] Δv dc = K pd + K id s i d * * − i dc Δv qc = K pq + K iq s i q * − i qc

[0076] Here, K pd : proportional gain of d-axis current control, K id : integral gain of d-axis current control, K pq : proportional gain of q-axis current control, K iq : integral gain of q-axis current control.

[0077] Further, according to (Equation 24), the d-axis and q-axis voltage commands V dc ** and V qc ** are computed. [Equation 24] v dc * * = v dc * + Δv dc v qc * * = v qc * + Δv qc

[0078] Fig. 11 illustrates a block configuration of an excitation current command correction computation unit 12 which is a feature of the present embodiment.

[0079] The excitation current command correction computation unit 12 outputs a d-axis corrected voltage command i d ** based on a q-axis corrected current command i q *' obtained by multiplying the absolute value |i q *| of the q-axis current command i q * by the magnetic flux saturation coefficient G and the d-axis current command i d *.

[0080] In the figure, reference symbols 121, 122, 123, 124, 125, 126, 127, 128, 129, and 1291 are the same as reference symbols 71, 72, 73, 74, 75, 76, 77, 78, 79, and 791 of Fig. 2.

[0081] The q-axis current command i q * is input to the absolute value computation unit 121, and the absolute value |i q *| of i q * is output therefrom. A relationship between the excitation current and the mutual inductance value M^ of the induction motor is stored in a table 122, the d-axis corrected current command i d ** is input to the table 122, and the corresponding mutual inductance value M^ is output therefrom. The mutual inductance value M^ is input to a low-pass filter 123, and M^^, which is a primary delay signal thereof, is output therefrom. A setting unit 124 outputs the mutual inductance value M 0 of the induction motor, which is a reference when measured at a base frequency. The mutual inductance values M^^ and M 0 are input to a division unit 125, and the magnetic flux saturation coefficient G is output therefrom by computation shown in (Equation 3) described above.

[0082] Note that the table 122 is created in advance by changing the excitation current and measuring the mutual inductance of the induction motor. Further, the table 122 of Fig. 11 illustrates a relationship between the excitation current and the mutual inductance M^. However, a table illustrating a relationship between the excitation current and the magnetic flux saturation coefficient G may be obtained by computing the magnetic flux saturation coefficient G from the mutual inductance by (Equation 3). Further, instead of referring to the table, the magnetic flux saturation coefficient G may be computed by an approximate mathematical expression according to the excitation current.

[0083] The absolute value |i q *| of the q-axis current command i q * and the magnetic flux saturation coefficient G are input to the multiplication unit 126, and the q-axis corrected current command i q *' is output therefrom according to (Equation 25). [Equation 25] i q * ′ = i q * ⋅ G

[0084] The q-axis corrected current command i q *' and the d-axis corrected current command i d ** are input to a subtraction unit 127, and a current deviation Δi* is output therefrom. The current deviation Δi* is input to a proportional computation unit 128 having a constant of the proportional gain K p3 and an integral computation unit 129 having a constant of the integral gain K i3 , and output signals thereof are output to the addition unit 1291. As a result, a current command correction value Δi d * is output according to (Equation 26). [Equation 26] Δi d * = K p 3 + K i 3 s ⋅ Δi *

[0085] In an addition unit 1292, the d-axis current command i d * and the current command correction value ΔI d * are added according to (Equation 27), and the d-axis corrected current command I d ** is output therefrom. [Equation 27] i d * * = i d * + Δi d *

[0086] A frequency estimation computation unit 13 of Fig. 10 outputs the estimated frequency ω r ^ and the output frequency ω 1 * of the induction motor 1 according to (Equation 28). [Equation 28] ω r ∧ = 1 1 + T obs s ⋅ v qc * * − ω 1 * L σ 1 1 + T acr s i d * − R i qc + L σ s i qc M L 2 ϕ 2 d ω 1 * = ω r ∧ + 1 T 2 i q * i d * *

[0087] Here, R*: added value of primary resistance value and secondary resistance converted to primary side, T obs : observer time constant, and T 2 : secondary time constant value.

[0088] Even in the present embodiment in which speed control, current control, and vector control are computed instead of V / f control, a highly efficient operation can be realized by controlling the d-axis corrected current command I d ** so as to follow the q-axis corrected current command i q *'.

[0089] Note that even though the estimated frequency ω r ^ is computed in the present embodiment, an encoder may be attached to the induction motor 1 to detect the speed.

[0090] According to the present embodiment, by performing a control operation so that the q-axis corrected current command i q *' obtained by multiplying the absolute value |i q *| of the q-axis current command i q * by the magnetic flux saturation coefficient G that changes according to the excitation current and the d-axis corrected current command i d ** follow, it is possible to realize a highly efficient current property with a smaller current value.

[0091] In the third embodiment, the voltage correction values ΔV dc and ΔV qc are created from the current commands i d ** and i q * and the current detection values i dc and i qc (Equation 23), and computation shown in (Equation 24) of adding this voltage correction value and the voltage command of the vector control is performed. However, intermediate current commands i d *** and i q ** shown in (Equation 29) used for vector control computation may be created from the current commands i d ** and i q * and the current detection values i dc and i qc , and vector control computation shown in (Equation 30) may be performed using the output frequency ω 1 * and the electric circuit constants of the induction motor 1. [Equation 29] i d * * * = K pd 1 + K id 1 s i d * * − i dc i q * * * = K pq 1 + K iq 1 s i q * * − i qc [Equation 30] v dc * * * = R 1 ⋅ i d * * * − ω 1 * ⋅ L σ ⋅ 1 1 + T d s i q * * v qc * * * = R 1 ⋅ i q * * + ω 1 * ⋅ L σ ⋅ 1 1 + T q s i d * * * + ω 1 * ⋅ M L 2 ⋅ ϕ 2 d *

[0092] Here, K pd1 : proportional gain of d-axis current control, K id1 : integral gain of d-axis current control, K pq1 : proportional gain of q-axis current control, K iq1 : integral gain of q-axis current control, T d : d-axis electrical time constant (L σ / R), T q : q-axis electrical time constant (L σ / R).

[0093] Alternatively, a voltage correction value ΔV d_p " of a d-axis proportional computation component, a voltage correction value ΔV d_i * of a d-axis integral computation component, a voltage correction value ΔV q_p * of a q-axis proportional computation component, and a voltage correction value ΔV q_i * of a q-axis integral computation component used for vector control computation may be computed by (Equation 31) from the current commands i d ** and i q * and the current detection values i dc and i qc , and vector control computation shown in (Equation 32) may be performed using the output frequency ω 1 * and the electric circuit constants of the induction motor 1. [Equation 31] Δv d_p * = K pd 2 i d * * − i dc Δv d_i * = K id 2 s i d * * − i dc Δv q_p * = K pq 2 i q * − i qc Δv q_i * = K iq 2 s i q * − i qc

[0094] Here, K pd2 : proportional gain of d-axis current control, K id2 : integral gain of d-axis current control, K pq2 : proportional gain of q-axis current control, K iq2 : integral gain of q-axis current control. [Equation 32] v dc * * * * = Δv d_p * + Δv d_i * − ω 1 * ⋅ L σ R 1 ⋅ Δv q_i * v qc * * * * = Δv q_p * + Δv q_i * − ω 1 * ⋅ L σ R 1 ⋅ Δv d_i * + ω 1 * M L 2 ⋅ ϕ 2 d *

[0095] Further, an output frequency command ω 1 ** shown in (Equation 33) and vector control computation shown in (Equation 34) may be performed using the d-axis current command i d **, the primary delay signal i qctd of the q-axis current detection value i qc , the frequency command ω r *, and the electric circuit constants of the induction motor 1. [Equation 33] ω 1 * * = ω r * + 1 T 2 ⋅ i d * * ⋅ i qc [Equation 34] v dc * * * * = R 1 ⋅ i d * * − ω 1 * * ⋅ L σ ⋅ i qctd v qc * * * * = R 1 ⋅ i qctd + ω 1 * * ⋅ L σ ⋅ i d * + ω 1 * * ⋅ M L 2 ⋅ ϕ 2 d *

[0096] Here, i qctd is a signal obtained by passing i qc through a primary delay filter.

[0097] In the third embodiment so far, the frequency estimation computation unit 13 computes a speed estimated value ω r ^ according to (Equation 28). However, it is possible to use a method in which current control and speed estimation are used together in q-axis current control. A speed estimated value ω r ^^ is computed as shown in (Equation 35). [Equation 35] ω r ∧ ∧ = K pq 3 + K iq 3 s i q * − i qc

[0098] Here, K pq3 is proportional gain of current control, and K iq3 is integral gain of current control.

[0099] Further, in the feedback control computation unit 11 in the third embodiment, the speed estimated values ω r ^ and ω r ^^ are computed according to (Equation 28) or (Equation 35). However, it is possible to use a method of attaching an encoder to the induction motor 1 and computing a speed detected value from an encoder signal.Fourth embodiment

[0100] Fig. 12 is a configuration diagram of a power conversion device according to a fourth embodiment.

[0101] The present embodiment is an application of the present embodiment to an induction motor drive system. In the figure, reference symbols 1, 5 to 10 of components are the same as those of Fig. 1.

[0102] The induction motor 1 is driven by the power conversion device 20. In the power conversion device 20, the components of reference symbols 5 to 10 of Fig. 1 are implemented as software 20a, and the components of reference symbols 2, 3 and 4 of Fig. 1 are implemented as hardware. Further, the predetermined proportional gain K p1 25 and the predetermined integral gain K i1 26 of the software 20a can be set or changed by a higher-level device such as a digital operator 20b, a personal computer 28, a tablet PC 29, or a smartphone 30.

[0103] When the present embodiment is applied to the induction motor drive system, highly efficient operation can be realized in V / f control or speed sensorless vector control. Further, the predetermined proportional gain K p1 25 and the predetermined integral gain K i1 26 may be set on a fieldbus of a programmable logic controller, a local area network connected to a computer, or a control device.

[0104] Further, even though the present embodiment is disclosed using the first embodiment, the second or third embodiment may be used.

[0105] Note that in the first to fourth embodiments, as a switching element included in the power converter 2, it is possible to use a Si (silicon) semiconductor element, or a wide bandgap semiconductor element such as SiC (Silicon Carbide) or GaN (Gallium Nitride).REFERENCE SIGNS LIST

[0106] 1Induction motor 2Power converter 3DC power supply 4Current detector 5Coordinate conversion unit 6V / f control computation unit 7, 7a, 7bVoltage command correction computation unit 8Phase computation unit 9Addition unit 10Coordinate conversion unit 11Feedback control computation unit 12Excitation current command correction computation unit 13Frequency estimation computation unit 20Power conversion device 20aSoftware part of power conversion device 20bDigital operator of power conversion device 21Current detector 22Encoder 23Calculation unit of vector current component 24Computation unit of magnetic flux saturation coefficient 25Predetermined proportional gain 26Predetermined integral gain 28Personal computer 29Tablet PC 20Smartphone 72Table 73Low-pass filter (LPF) 74Setting unit 75Division unit 76Multiplication unit 77Subtraction unit 78Proportional computation unit 79Integral computation unit GMagnetic flux saturation coefficient i q *,i d ** d-axis current command i q *q-axis current command ω r *Frequency command ω 1 *Output frequency ω r Speed of induction motor ω r ^Speed estimated value ω s *Sliding frequency command V dc *, V dc **, V dc ***, V dc ****d-axis voltage command V qc *, V qc **, V qc ***, V qc ****q-axis voltage command ΔV qc *q-axis voltage command correction value Δi d *d-axis current command correction value

Claims

1. A power conversion device (20) for driving and controlling an induction motor (1), the power conversion device (20) comprising a voltage command correction computation unit (7) for computing a voltage command correction value (ΔVqc*) for correcting a torque axis voltage command (Vqc*) based on a torque axis current detection value (iqc) and a magnetic flux axis current detection value (idc), a coordinate conversion unit (5) configured to output the magnetic flux axis current detection value (idc) and the torque axis current detection value (iqc) from a phase computation (θdc) value and the detection values (iuc, ivc, iwc) of the three-phase alternating currents (iu, iv, iw), a phase computation unit (8) configured to integrate the frequency command and to output the phase computation value (θdc), the power conversion device characterized in that the voltage command correction computation unit computes the voltage command correction value (ΔVqc*) based on a deviation between the magnetic flux axis current detection value (idc) and a corrected torque current obtained by multiplying an absolute value of a torque axis current detection value (iqc) by a magnetic flux saturation coefficient (G) changing according to an excitation current.

2. A power conversion device (20) for driving and controlling an induction motor (1) according to claim 1, wherein the voltage command correction computation unit computes the voltage command correction value (ΔVqc*) based on a deviation between corrected active power obtained by multiplying an absolute value of active power obtained by multiplying the torque axis voltage command (Vqc*) by the torque axis current detection value (iqc) by a magnetic flux saturation coefficient (G) changing according to an excitation current and reactive power obtained by multiplying the torque axis voltage command (Vqc*) by the magnetic flux axis current detection value (idc).

3. The power conversion device (20) according to claim 1, further comprising a V / f control computation unit (6) for computing a torque axis voltage command (Vqc*) by multiplying a ratio (V / f ratio) of an output voltage to an output frequency of the induction motor (1) by the output frequency, and setting a magnetic flux axis voltage command to zero, wherein the torque axis voltage command (Vqc*) is corrected by the voltage command correction value (ΔVqc*).

4. The power conversion device (20) according to claim 2, further comprising a V / f control computation unit (6) for computing a torque axis voltage command (Vqc*) by multiplying a ratio (V / f ratio) of an output voltage to an output frequency of the induction motor (1) by the output frequency, and setting a magnetic flux axis voltage command to zero, wherein the torque axis voltage command (Vqc*) is corrected by the voltage command correction value (ΔVqc*).

5. The power conversion device (20) according to claim 1 or 2, wherein the magnetic flux saturation coefficient (G) is a ratio of a plurality of mutual inductance values of the induction motor (1) measured by changing an excitation current to a mutual inductance value of the induction motor (1) measured by a normal excitation current.

6. The power conversion device (20) according to claim 4, wherein the magnetic flux saturation coefficient (G) is obtained by referring to a table (72, 122) according to an excitation current or by computation using an approximate mathematical expression according to an excitation current.

7. The power conversion device (20) according to claim 3, wherein the torque axis voltage command (Vqc*) is computed by proportional control and integral control so that a deviation between the corrected torque current and the magnetic flux axis current detection value (idc) is set to zero.

8. The power conversion device (20) according to claim 4, wherein the torque axis voltage command (Vqc*) is computed by proportional control and integral control so that a deviation between an absolute value of the corrected active power and an absolute value of the reactive power is set to zero.

9. The power conversion device (20) according to claim 7 or 8, wherein control gains of the proportional control and the integral control are automatically corrected based on an output frequency of the induction motor (1).

10. A power conversion device (20) according to claim 1 for computing magnetic flux axis and torque axis voltage commands (Vqc*) using an excitation current command and a torque current command of an induction motor, magnetic flux axis and torque axis current detection values (iqc), and a speed detected value or a speed estimated value, the power conversion device (20) comprising an excitation current command correction computation unit (12) for computing a corrected excitation current command based on the excitation current command and the torque current command, wherein the excitation current command correction computation unit (12) corrects the excitation current command so that the corrected excitation current command follows a corrected torque current command obtained by multiplying an absolute value of the torque current command by a magnetic flux saturation coefficient (G) changing according to an excitation current.

11. The power conversion device (20) according to claim 10, wherein the corrected excitation current command is computed by proportional control and integral control so that a deviation between the corrected torque current command and the corrected excitation current command is set to zero.

12. The power conversion device (20) according to claim 11, wherein control gains of the proportional control and the integral control are automatically corrected based on an output frequency of the induction motor (1).

13. The power conversion device (20) according to claim 10, wherein the magnetic flux saturation coefficient (G) is a ratio of a plurality of mutual inductance values of the induction motor (1) measured by changing an excitation current to a mutual inductance value of the induction motor measured by a normal excitation current.

14. The power conversion device (20) according to claim 13, wherein the magnetic flux saturation coefficient (G) is obtained by referring to a table according to an excitation current or by computation using an approximate mathematical expression according to an excitation current.

15. The power conversion device (20) according to claim 7, 8, or 11, wherein a control response frequency or control gain set for the proportional control or the integral control is allowed to be set or changed by connecting to a higher-level device such as a digital operator (20b), a personal computer (28), a tablet PC (29), or a smartphone device (30).