逆相成分電流に含まれるスロット高調波を利用した誘導電動機速度センサレスベクトル制御

(1)

逆相成分電流に含まれるスロット高調波を利用した

誘導電動機速度センサレスベクトル制御

著者

清武博文, 篠原勝次, 加藤大輔

雑誌名

鹿児島大学工学部研究報告

巻

48 ページ

23-28

別言語のタイトル

Vector Control of Induction Motor without

Speed Sensor Utilizing Slot Harmonics Included

in Negative Sequence Carrier Signal Current

URL

http://hdl.handle.net/10232/8265

(2)

逆相成分電流に含まれるスロット高調波を利用した

誘導電動機速度センサレスベクトル制御

著者

清武博文, 篠原勝次, 加藤大輔

雑誌名

鹿児島大学工学部研究報告

巻

48 ページ

23-28

別言語のタイトル

Vector Control of Induction Motor without

Speed Sensor Utilizing Slot Harmonics Included

in Negative Sequence Carrier Signal Current

URL

http://hdl.handle.net/10232/00012579

(3)

㣮ఽፉᄢቇᎿቇㇱ⎇ⓥႎ๔ ╙ 48 ภ㧔2006㧕

ㅒ⋧ᚑಽ㔚ᵹߦ฽߹ࠇࠆࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪

ߒߚ⺃ዉ㔚േᯏㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮ

ᷡᱞ ඳᢥ

㧖

_{◉ේ ൎᰴ}

㧖㧖

_{ട⮮ ᄢテ}

㧖㧖㧖

Vector Control of Induction Motor without Speed Sensor Utilizing Slot Harmonics

Included in Negative Sequence Carrier Signal Current

Hirofumi KIYOTAKE, Katsuji SHINOHARA and Daisuke KATOH

Speed sensorless vector controlled induction motor drives are the standard choice in many industrial

applications, but this can hardly control torque and rotor speed at low speed. Recently, a method based on

the high-frequency signal injection has been studied. This paper presents a method for suppressing the

effects of the saturation saliency by using high pass filter, and a new approach to estimate the rotor speed.

The effectiveness of these methods are demonstrated through experimental results showing good

sensorless speed control at low speed.

Keywords: Induction motor, sensorless vector control, high frequency signal injection, slot harmonics

㧝㧚߹߃߇߈

⺃ዉ㔚േᯏߩㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮᣇᑼߪ

ㅦᐲ࠮ࡦࠨࠍ↪޿ߚ႐วߦᲧߴࠦࠬ࠻࡮ࡔࡦ࠹࠽ࡦ

ࠬ࡮⠴ⅣႺᕈߩὐߢఝࠇߡ߅ࠅ㧘↥ᬺ⇇ߢታ↪ൻߐ

ࠇߡ޿ࠆޕ৻⥸ߦ㧘ㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮᣇ

ᑼߢߪ⺃ዉ⿠㔚ജ߆ࠄ⏛᧤૏⟎߿࿁ォㅦᐲࠍផቯߒ

ߡ޿ࠆߚ߼㧘࿁ォㅦᐲ߇ૐߊߥࠆߣ⺃ዉ⿠㔚ജ߽ዊ

ߐߊߥࠅ㧘ᱜ⏕ߥㅦᐲ࡮࠻࡞ࠢ೙ᓮ߇࿎㔍ߣߥࠆ໧

㗴ὐ߇޽ࠆޕߎࠇߦኻߒߡ㧘ࠗࡦࡃ࡯࠲ߩ㔚࿶ᜰ઎

୯ߦ㜞๟ᵄାภ߿ᓸዊ᏷ߩ㔚࿶ࡌࠢ࠻࡞ࠍ㊀⇥ߒߡ

ࠬࡠ࠶࠻࡝ࡊ࡞߿⏛᳇㘻๺ߥߤ㔚േᯏߩᢙቇࡕ࠺࡞

ߢߪᛒࠊࠇߥ޿‛ℂ⃻⽎ࠍ೑↪ߒߡ⏛᧤૏⟎߿࿁ォ

ㅦ ᐲ ߩ ផ ቯ ࠍ ⴕ ߁ ᣇ ᑼ ߇ ឭ ᩺ ߐ ࠇ ߡ ޿ ࠆ

1)~13),16),18)~20)

ޕߎߩਛߢ㧘ࠬࡠ࠶࠻࡝ࡊ࡞߆ࠄ࿁ォㅦ

ᐲࠍផቯߔࠆᣇᑼߪᬌ಴ේℂߦࠃߞߡએਅߩਃߟߩ

ࠞ࠹ࠧ࡝࡯ߦಽ㘃ߢ߈ࠆ

14)

ޕ(γ) ᮡḰߩ㧼㨃㧹ࡄ࠲

࡯ࡦߦ⍴ᤨ㑆ߩᄢ߈ߐ߇หߓߢะ߈ߪ෻ኻߩ㔚࿶ࡌ

ࠢ࠻࡞ࠍශടߒ㔖⋧㔚ᵹߩᓸಽ୯߿㔖⋧㔚࿶߆ࠄṳ

ࠇࠗࡦ࠳ࠢ࠲ࡦࠬߩᄌൻࠍ᛽಴ߔࠆ㔖⋧ᚑಽᬌ಴ᴺ

4),13),16),19),20)

㧘(δ) 㔚േᯏߩਛᕈὐߣ⋥ᵹ࡝ࡦࠢㇱߩ

ਛ㑆ὐߣߩ㑆ߢ᷹ቯߐࠇࠆ㔖⋧㔚࿶ߦ฽߹ࠇࠆࠬࡠ

࠶ ࠻ 㜞⺞ ᵄ߆ ࠄ ㅦᐲ ࠍផ ቯ ߔࠆ 㔖⋧ 㔚 ࿶ᬌ ಴ᴺ

5),18)

㧘(ε) ৻ᰴ㔚ᵹߦ฽߹ࠇࠆㅒ⋧ᚑಽ㔚ᵹ߆ࠄࠬ

2006 ᐕ 8 ᦬ 30 ᣣฃℂ

* ඳ჻ᓟᦼ⺖⒟ࠪࠬ࠹ࡓᖱႎᎿቇኾ᡹㧔␠ળੱ㧕

㧔ᄢಽᎿᬺ㜞╬ኾ㐷ቇᩞ㔚᳇㔚ሶᎿቇ⑼㧕

** 㔚᳇㔚ሶᎿቇ⑼

*** ඳ჻೨ᦼ⺖⒟㔚᳇㔚ሶᎿቇኾ᡹

― 23 ―

(4)

ࡠ࠶࠻㜞⺞ᵄࠍ᛽಴ߒߡㅦᐲࠍផቯߔࠆㅒ⋧ᚑಽ㔚

ᵹᬌ಴ᴺ

1),3),6),8)~12)

ߩ 3 ߟߢ޽ࠆޕߒ߆ߒ㧘਄⸥(γ)

㨪(ε)ߩᣇᴺߢߪ㘻๺㜞⺞ᵄ߿ઁߩਇⷐߥ๟ᵄᢙᚑ

ಽߩ⵬ఘߦ࡞࠶ࠢࠕ࠶ࡊ࠹࡯ࡉ࡞ࠍ↪޿ࠆᔅⷐ߇޽

ࠅ㧘ᄖㇱࡔࡕ࡝ࠍᔅⷐߣߔࠆߎߣߢ೙ᓮ࿁〝߇ⶄ㔀

ߦߥࠆ㧘૶↪ߔࠆ㔚േᯏߏߣߦ⵬ఘ࠺࡯࠲ࠍ੐೨ߦ

᷹ቯߒߡ߅ߊᔅⷐ߇޽ࠆ㧘ߥߤߩᰳὐ߇޽ࠆޕߐࠄ

ߦ㧘

ㅦᐲផቯߦ PLL ߿ tan

-1

㑐ᢙߥߤࠍ૶↪ߒߡ߅ࠅ㧘

DSP ࡊࡠࠣ࡜ࡓ߇ⶄ㔀ߦߥࠆޕ

ᧄ⺰ᢥߪ㧘਄⸥(ε)ߩㅒ⋧ᚑಽ㔚ᵹᬌ಴ᴺߦ߅޿

ߡࡂࠗࡄࠬࡈࠖ࡞࠲ࠍ↪޿ߚ㘻๺㜞⺞ᵄߩ㒰෰ᴺ㧘

ߥࠄ߮ߦࠬࡠ࠶࠻㜞⺞ᵄࠍࡄ࡞ࠬൻߒߡࠞ࠙ࡦ࠻ߔ

ࠆߎߣߢㅦᐲផቯࠍⴕ߁ᣇᑼࠍឭ᩺ߒߚ߽ߩߢ޽ࠆ

15),17)

ޕߎߩᣇᑼߩ․㐳ߪ◲නߥ࿁〝᭴ᚑߢࠬࡠ࠶࠻

㜞⺞ᵄߩ᛽಴ߣ㘻๺㜞⺞ᵄߩ㒰෰߇ߢ߈ࠆὐߦ޽

ࠅ㧘೙ᓮ࿁〝ߩ◲නൻ߿ DSP ࡊࡠࠣ࡜ࡓࠍ◲⇛ߢ߈

ࠆޕᓥ᧪ߩࠗࡦࡃ࡯࠲ߩ㔚࿶ᜰ઎୯ߦ㜞๟ᵄାภ߿

ᓸዊ᏷ߩ㔚࿶ࡌࠢ࠻࡞ࠍ㊀⇥ߒߡᓧࠄࠇࠆࠬࡠ࠶࠻

࡝ࡊ࡞߆ࠄㅦᐲࠍផቯߔࠆᣇᑼߣឭ᩺ߔࠆᚻᴺߣߩ

⋧㆑ὐࠍ⴫ 1 ߦ␜ߔޕ߹ߚ㧘ߘࠇࠄߩㅦᐲផቯㇱಽ

ߩ᭴ᚑࠍ࿑㧝ߦ␜ߔޕ࡞࠶ࠢࠕ࠶ࡊ࠹࡯ࡉ࡞ࠍ૶ߞ

ߚ㘻๺㜞⺞ᵄ⵬ఘㇱಽ߇ឭ᩺ᴺߢߪ㕖Ᏹߦ◲නߦߥ

ࠆߎߣ߇ࠊ߆ࠆޕ

⴫㧝㜞๟ᵄାภ㊀⇥ᣇᑼߩಽ㘃

ᧄ⺰ᢥߢߪ㧘߹ߕㅒ⋧ᚑಽ㔚ᵹߦ฽߹ࠇࠆࠬࡠ࠶

࠻㜞⺞ᵄߦࠃࠆㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮᣇᑼߩ

ේℂߣࠪࠬ࠹ࡓ᭴ᚑߦߟ޿ߡㅀߴࠆޕ߹ߚ㧘ឭ᩺ߔ

ࠆᚻᴺߢߩㅦᐲផቯߩ⺖⒟ࠍ⺑᣿ߒ㧘ࠬࡠ࠶࠻㜞⺞

ᵄࠍᬌ಴ߒ߿ߔ޿ࠬࠠࡘ࡯ߥߒ࿁ォሶࠍ૶ߞߚታ㛎

߆ࠄૐㅦߢߩ࠮ࡦࠨ࡟ࠬㆇォ߇น⢻ߢ޽ࠆߎߣࠍ⏕

⹺ߒߚߩߢႎ๔ߔࠆޕ

࿑ 㜞๟ᵄାภ㊀⇥ᣇᑼߩಽ㘃

(5)

㧞㧚ᧄᣇᑼߩේℂ߅ࠃ߮ࠪࠬ࠹ࡓ᭴ᚑ

ᧄᣇᑼߩේℂ

⺃ዉ㔚േᯏߩ࿁ォሶߪ㧘㋕ᔃߣੑᰴዉ૕ࠍၒ߼ࠆ

ࠬࡠ࠶࠻߆ࠄ᭴ᚑߐࠇߡ޿ࠆޕߎߩੑߟߪㅘ⏛₸߇

⇣ߥࠆߚ߼㧘ࠡࡖ࠶ࡊਛߩ⏛᧤ߪ࿁ォሶࠬࡠ࠶࠻ߩ

ᢙߛߌ⣂േߔࠆޕߎߩߣ߈㧘(1)ᑼߩࠃ߁ߥ㜞๟ᵄା

ภ㔚࿶ࠍࠗࡦࡃ࡯࠲㔚࿶ᜰ઎୯ߦ㊀⇥ߔࠆޕ

» ¼ º « ¬ ª ) Ȧ n( i s ) Ȧ cos( c c 1 t t V v_DE_c _c

₍₁₎

ᑼ(1)ߦࠃߞߡ૞ࠄࠇࠆ⏛᧤ߪ⴫⊹ലᨐߦࠃࠅ࿁ォ

ሶ⴫㕙ઃㄭߦ㓸ਛߔࠆ߇㧘㋕ᔃߣࠬࡠ࠶࠻ߩㅘ⏛₸

ߩ㆑޿߆ࠄ࿁ォሶࠬࡠ࠶࠻ߩᢙߛߌ⣂േߔࠆߩߢ㧘

⚿ᨐߣߒߡ࿕ቯሶ㔚ᵹߩ㜞๟ᵄᚑಽߦߎߩ⣂േ߇฽

߹ࠇࠆޕߎࠇࠍ(2)ᑼߢ␜ߔޕ

» ¼ º « ¬ ª » ¼ º « ¬ ª ) cos( ) sin( ) cos( ) sin( 1 t t h t t h I t t I i c r c r cn c c cp c Z Z Z Z Z Z DE

(2)

ߎߎߢ㧘

V V V V V V

L

V

I

L

V

I

c c cn c c cp

'

)

,

Ȧ

(

)

(

Ȧ

2 2 2 2 V L

㧦࿕ቯሶㆊᷰࠗࡦ࠳ࠢ࠲ࡦࠬ

V L '

㧦࿕ቯሶㆊᷰࠗࡦ࠳ࠢ࠲ࡦࠬߩᄌൻಽ

(2)ᑼߩฝㄝ╙৻㗄ߪᱜ⋧ᚑಽߢ޽ࠅㅦᐲᖱႎࠍ฽

ࠎߢ޿ߥ޿߇㧘ฝㄝ╙ੑ㗄ߩㅒ⋧ᚑಽߪㅦᐲᖱႎࠍ

฽ࠎߢ޿ࠆߩ߇ࠊ߆ࠆޕᓥߞߡ㧘࿕ቯሶ㔚ᵹߦ฽߹

ࠇࠆㅒ⋧ᚑಽࠍᬌ಴ߒㅦᐲᖱႎࠍ᛽಴ߔࠆߎߣߢㅦ

ᐲផቯ୯ࠍᓧࠆߎߣ߇ߢ߈ࠆޕ

ࠪࠬ࠹ࡓ᭴ᚑ

࿑ 2 ߦឭ᩺ߔࠆࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪ߒߚㅦᐲ࠮

ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮߩࠪࠬ࠹ࡓ᭴ᚑࠍ␜ߔޕ

࿑ ࠪࠬ࠹ࡓ᭴ᚑ ― 25 ―

(6)

ᜰ઎ߣߒߡㅦᐲᜰ઎୯

Zr

߅ࠃ߮ബ⏛ᚑಽ㔚ᵹᜰ઎

୯

i d

ࠍਈ߃㧘DSP ౝߢㅦᐲ೙ᓮࠍ㧘ࠕ࠽ࡠࠣ࿁〝ߢ

dq ゲ਄㔚ᵹ೙ᓮࠍⴕ߁ޕᓧࠄࠇߚ

Vd

㧘

Vq

ࠍ dq ᐳᮡ

߆ࠄ㕒ᱛਃ⋧ߦᐳᮡᄌ឵ߒߡࠗࡦࡃ࡯࠲ߩ㔚࿶ᜰ઎

୯

Vu

㧘

Vv

㧘

Vw

ࠍᓧࠆޕ

Vu

㧘

Vv

㧘

Vw

ߦߘࠇߙࠇ

1[kHz]㧘1.5[V]ߩ㜞๟ᵄାภ

Vuh

㧘

Vvh

㧘

Vwh

ࠍ㊀⇥ߒ

ਃⷺᵄߣᲧセߔࠆߎߣߢ PWM ାภࠍ૞ࠅࠗࡦࡃ࡯

࠲ࠍേ૞ߐߖࠆޕ৻ᣇ㧘ᬌ಴ߒߚ৻ᰴ㔚ᵹ

iu

㧘

iv

㧘

iw

ࠍੑ⋧੤ᵹߦᄌ឵ߒߚᓟ㧘ၮᧄᵄࠍขࠅ಴ߔߚ߼ߩ

LPF1㧔ࠞ࠶࠻ࠝࡈ๟ᵄᢙ 500[Hz]㧕ߣ㊀⇥ߒߚ㜞๟

ᵄାภߣหߓ๟ᵄᢙᚑಽࠍขࠅ಴ߔߚ߼ߩ BPF㧔ਛ

ᔃ๟ᵄᢙ 1[kHz]㧕ߦ౉ജߔࠆޕBPF ߢಽ㔌ߒߚ㜞๟

ᵄᚑಽ

iDh

㧘

iEh

ࠍㅒ⋧ᚑಽߩ 1[kHz]㧔એਅ-1[kHz]

ߣ⴫␜㧕ߦหᦼߒߚᐳᮡ♽ߦᄌ឵ߔࠆߎߣߢㅒ⋧ᚑ

ಽࠍ⋥ᵹߦߔࠆޕߎߩᄌ឵ߦࠃࠅᱜ⋧ᚑಽߪ㊀⇥๟

ᵄᢙߩ 2 ୚ߩ๟ᵄᢙ(2[kHz])ߣߥࠆߩߢ㧘ࠞ࠶࠻ࠝࡈ

๟ᵄᢙ 100[Hz]ߩ LPF 2 ࠍ↪޿ߡᱜ⋧ᚑಽࠍ㒰෰ߒ

n h d i

㧘

iqhn

ࠍᓧࠆޕߘߩᓟ㧘࠺࠶࠼࠲ࠗࡓᱡߺ⵬ఘ

ࠍⴕߞߡᓧࠄࠇࠆ

icdhn

㧘

icqhn

ߦߪㅒ⋧ᚑಽ㧔ࠬࡠ࠶

࠻㜞⺞ᵄߣᐳᮡᄌ឵ߦࠃࠆ⋥ᵹᚑಽ㧕ߣ㘻๺㜞⺞ᵄ

߇฽߹ࠇࠆߎߣߦߥࠆޕߎࠇࠄߩ㔚ᵹ

icdqhn

ߪ⺃ዉ㔚

േᯏߩ╬ଔ࿁〝ߣ࿕ቯሶㆊᷰࠗࡦ࠳ࠢ࠲ࡦࠬࠃࠅ

(3)ᑼߢ⴫ߐࠇࠆ

1),3),9)

_ޕ

¦ ¦

c m k h j k m n c dqhn I e mkm mk i ( T M )

(3)

ߎߎߢ㧘m=1 ߩߣ߈㘻๺㜞⺞ᵄࠍ㧘m=2 ߩߣ߈ࠬࡠ

࠶࠻㜞⺞ᵄࠍ⴫ߒ㧘

h1k

㧘

h2k

ߪߘࠇࠄߩᰴᢙߢ޽ࠆޕ

t k h1_k 2,4,..., 2 , T1 Z_e t nk n n h2_k 2 ,4 ,...,2 , T2 Z_r

ߚߛߒ㧘

n Nr P

ߢ޽ࠅ㧘

Nr

ߪ࿁ォሶࠬࡠ࠶

࠻ᢙ㧘

P

ߪᭂᢙߢ޽ࠆޕ

࿑ 3 ߦឭ᩺ߔࠆ࿁ォሶㅦᐲផቯེߩࡉࡠ࠶ࠢ࿑

ࠍ㧘࿑ 4 ߦㅦᐲផቯߩේℂࠍ␜ߔޕࠬࡠ࠶࠻㜞⺞ᵄ

ߩ๟ᵄᢙᚑಽ߇࿁ォㅦᐲߦᲧ଀ߒߚ๟ᵄᢙᚑಽߢ޽

ࠆߎߣࠍ೑↪ߒߡ㧘ࠬࡠ࠶࠻㜞⺞ᵄߩ࠯ࡠࠢࡠࠬߩ

ᢙ ࠍ ࠞ࠙ ࡦ࠻ ߒ ߘߩ ᤨ㑆 ߆ ࠄ࿁ ォሶ ㅦ ᐲࠍ ផቯ

ߔࠆ᭴ᚑߣߥߞߡ޿ࠆޕએਅ㧘࿑ 3㧘࿑ 4 ࠃࠅ࿁ォ

ሶㅦᐲࠍផቯߔࠆㆊ⒟ࠍ⺑᣿ߔࠆޕ߹ߕ㧘

icqhn

ࠍࠞ

࠶࠻ࠝࡈ๟ᵄᢙ 10[Hz]ߩ HPF ߦㅢߒߡ㘻๺㜞⺞ᵄ

ߩಽ㔌ߣㅒ⋧ᚑಽߦ฽߹ࠇࠆ⋥ᵹᚑಽߩ㒰෰ࠍหᤨ

ߦⴕ޿㧘ࠬࡠ࠶࠻㜞⺞ᵄ

iqhs

ࠍ࠯ࡠࠢࡠࠬߐߖࠆޕ

ᰴߦ

iqhs

ࠍჇ᏷ߒ਄ਅߦ࡝ࡒ࠶࠻ࠍ߆ߌߡࡄ࡞ࠬ⁁

ߩାภࠍ૞ࠆޕߎߩାภࠍᓸಽߒߐࠄߦ 2 ਸ਼ߔࠆߎ

ߣߢࠬࡠ࠶࠻㜞⺞ᵄߩ࠯ࡠࠢࡠࠬߢ┙ߜ਄߇ࠆାภ

ࠍᓧࠆޕߎߩ┙ߜ਄߇ࠅߩᢙߪ㧘㔚᳇ⷺߩ࿁ォ๟ᵄ

ᢙ 1 ๟ᦼߏߣߦ 1 ᭂኻ޽ߚࠅߩ࿁ォሶࠬࡠ࠶࠻ᢙߩ

2 ୚ߢ޽ࠅ㧔ᧄ⺰ᢥߢߪ 4 ᭂޔ࿁ォሶࠬࡠ࠶࠻ᢙ 28㧘

ࠬࠠࡘ࡯ߥߒ࿁ォሶߥߩߢ 1 ࿁ォ޽ߚࠅ 56 ࡄ࡞ࠬ⊒

↢ߔࠆ㧕

㧘ࡄ࡞ࠬ߇ߘߩᢙߦ㆐ߔࠆ߹ߢߩᤨ㑆

Tp

ࠍ

ࠞ࠙ࡦ࠲ࠍ↪޿ߡ᷹ቯߔࠆޕߎࠇࠃࠅ࿁ォሶㅦᐲߩ

ផቯ୯

Zˆr

ߪ(4)ᑼߢ᳞߼ࠄࠇࠆޕ

࿑ ࿁ォሶㅦᐲផቯེ ࿑ ㅦᐲផቯߩේℂ

(7)

) 4 / ( 1 2 Ȧˆ p T r S

(4)

ᧄ⺰ᢥߢߪ㧘ㅦᐲផቯߩផቯᤨ㑆ࠍᣧ߼ࠆߚ߼Tp 4ߢ(4) ᑼߩ⸘▚ࠍⴕ߁ࠃ߁ߦߒߚޕ଀߃߫㧘28 ࠬࡠ࠶࠻ߩ࿁ォ ሶߩ႐ว㧘28 4 ࠬࡠ࠶࠻ಽߢㅦᐲផቯ୯߇ᓧࠄࠇࠆߎ7 ߣߦߥࠆޕ

㧟㧚ታ㛎⚿ᨐ

࿑ 5 ߦ

Ȧ

* r

=15[rpm]৻ቯߢߩ࠮ࡦࠨ࡟ࠬㆇォߩታ㛎

⚿ᨐࠍ␜ߔޕታ㛎ߩ᧦ઙߣߒߡ㧘ή⽶⩄ߢㅦᐲ೙ᓮ

ࠍⴕߞߡ޿ࠆޕታ㛎ᯏߪࡌࠢ࠻࡞೙ᓮ↪ߩ 1.5[kW]㧘

1750[rpm]ߩᮡḰຠߢ࿁ォሶߩߺࠍࠬࡠ࠶࠻㜞⺞ᵄ

ࠍᬌ಴ߒ߿ߔ޿ࠬࠠࡘ࡯ߥߒ࿁ォሶߦᄌᦝߒߚ߽ߩ

ߢ޽ࠆޕᮡḰຠߣߒߡߩ࿁ォሶᄌᦝ೨㧔ࠬࠠࡘ࡯ઃ

߈࿁ォሶ૶↪㧕ߢߩ㔚േᯏቯᢙࠍ⴫ 2 ߦ␜ߔޕ࿑ࠃ

ࠅ㧘

iqhs

ߩ࠯ࡠࠢࡠࠬὐߢ┙ߜ਄߇ߞߚࡄ࡞ࠬࠍࠞ

࠙ࡦ࠲ߢᢙ߃ߡ࿁ォㅦᐲࠍផቯߒߡ޿ࠆߩ߇ࠊ߆

⴫ ࿁ォሶᄌᦝ೨ߩᮡḰ⺃ዉ㔚േᯏቯᢙ

ࠆޕࠬࡠ࠶࠻㜞⺞ᵄ߆ࠄ૞ᚑߒߚࡄ࡞ࠬࠍᬌ⸽ߔࠆ

ߚ߼ F/V ᄌ឵ེߦ౉ജߐࠇࠆࠛࡦࠦ࡯࠳߆ࠄߩࡄ࡞

ࠬߣᲧセߔࠆޕࠛࡦࠦ࡯࠳߆ࠄߩࡄ࡞ࠬࠍ 8 ಽ๟ߒ

ߡ৻࿁ォߏߣߦ 75 ࡄ࡞ࠬᓧࠄࠇࠆାภࠍ࿑ߦ␜ߔޕ

ߎࠇࠄߩᲧセࠃࠅ㧘ࠬࡠ࠶࠻㜞⺞ᵄ߆ࠄ૞ᚑߒߚ࿁

ォሶ 1 ࿁ォಽߩࡄ࡞ࠬ 56 ୘ߦኻߒߡࠛࡦࠦ࡯࠳߆ࠄ

ߩࡄ࡞ࠬߪ 75 ୘ߣߥߞߡ߅ࠅ㧘࿁ォᢙߦኻߒߡᱜ⏕

ߥࠬࡠ࠶࠻㜞⺞ᵄ߇ᬌ಴ߐࠇߡ޿ࠆߎߣ߇ࠊ߆ࠆޕ

࿑ࠃࠅ㧘ૐㅦߢߩ࠮ࡦࠨ࡟ࠬㆇォߢ߽ࠬࡠ࠶࠻㜞⺞

ᵄ߇ᱜ⏕ߦᬌ಴ߢ߈㧘ㅦᐲផቯ୯ߣታ᷹୯߇৻⥌ߒ

ߡ޿ࠆߎߣ߇ࠊ߆ࠆޕ

Rated power 1.5kW Stator inductance 0.079H Rated voltage 180V Rotor inductance 0.079H Number of poles 4 Mutual inductance 0.077H Stator resistance 0.532ǡ Number of stator slots 36 Rotor resistance 0.537ǡ Number of rotor slots 28

(semi-enclosed)

࿑ ࠮ࡦࠨ࡟ࠬᤨߩታ㛎⚿ᨐ

(8)

㧠㧚߹ߣ߼

ᧄ⺰ᢥߢߪ㧘⺃ዉ㔚േᯏㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞

೙ᓮߦ߅ߌࠆࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪ߒߚㅦᐲᬌ಴ᴺ

ߦߟ޿ߡᬌ⸛ߒ㧘એਅߩ⚿⺰ࠍᓧߚޕ

(1) ㅒ⋧ᚑಽ㔚ᵹߦ฽߹ࠇࠆࠬࡠ࠶࠻㜞⺞ᵄࠍࡄ

࡞ࠬൻߒࠞ࠙ࡦ࠻ߔࠆߎߣߢㅦᐲࠍផቯߔࠆ

ᣇᑼߥࠄ߮ߦࡂࠗࡄࠬࡈࠖ࡞࠲ࠍ↪޿ߚ㘻๺

㜞⺞ᵄߩ㒰෰ᴺࠍឭ᩺ߒߚޕ․ߦ㧘࡞࠶ࠢࠕ

࠶ࡊ࠹࡯ࡉ࡞ࠍ૶߁ߎߣߥߊ◲නߥ࿁〝᭴ᚑ

ߢ㘻๺㜞⺞ᵄࠍ㒰෰ߢ߈㧘߆ߟ㧘PLL ߿ tan

-1

㑐ᢙࠍ↪޿ߕߦᱜ⏕ߥ࿁ォㅦᐲࠍᬌ಴ߢ߈ࠆ

ὐߦ․ᓽ߇޽ࠆޕ

(2)

15[rpm]ߩૐㅦㆇォߢታ࿁ォㅦᐲߣ৻⥌ߒߚㅦ

ᐲផቯ୯߇ᓧࠄࠇ㧘࠮ࡦࠨ࡟ࠬㆇォ߇ታ⃻ߢ

߈ߚޕ

ෳ⠨ᢥ₂

1) P. L. Jansen, R. D. Lorenz㧦”Transducerless Position and Velocity Estimation in Induction and Salient AC Machines”, IEEE Trans. Ind. Applicat., Vol.31, No.2, pp.240-247 (1995) 2) P. L. Jansen, R. D. Lorenz㧦“Transducerless Field Orientation

Concepts Employing Saturation-Induced Saliencies in Induction Machine”, IEEE Trans. Ind. Applicat., Vol.32, No.6, pp.1380-1393 (1996)

3) M.W.Degner, R.D.Lorenz㧦”Using Multiple Saliencies for the Estimation Flux, Position, and Velocity in AC Machines”, IEEE Trans. Ind. Applicant, Vol.34, No.5, pp.1097-1104 (1998) 4) J.Holtz㧦“Sensorless Position Control of Induction Motors –An

Emerging Technology”, IEEE Trans. Ind. Electron., Vol.45, No.6, pp.840-852 (1998)

5) A.Consoli, G. Scarcella, A. Testa㧦“A New Zero-Frequency Flux-Position Detection Approach for Direct-Field-Oriented-Control Drive”, IEEE Trans. Ind. Applicat., Vol.36, No.3, pp.797-804 (2000)

6) N.Teske, G.M.Asher, Mark Sumner, K.J.Bradley㧦”Suppression of Saturation Saliency Effect for the Sensorless Position Control of Induction Motor Drives Under Loaded Conditions”, IEEE Trans. Ind. Electron. Vol.47, No.5, pp.1142-1150 (2000) 7) D.W.Chung, J.K.Ha, S.K.Sul, ੗ᚻ⠹ਃ㧘ቶർᐞ⏴㧘ᴛବ⵨㧦

ޟ⺃ዉ㔚േᯏߩ㜞⺞ᵄ㔚࿶㊀⇥ߦࠃࠆㅦᐲ࠮ࡦࠨ࡟ࠬࡌ ࠢ࠻࡞೙ᓮޠ㧘㔚ቇ⺰ D㧘Vol.121-D㧘No.11㧘pp.1257-1264 (2000)

8) F.Briz, M.W.Degner, A.Diez, R.D.Lorenz 㧦 ”Measuring,

Modeling, and Decoupling of Saturation-Induced Saliencies in Carrier-Signal Injection- Based Sensorless AC Drives”, IEEE Trans. Ind. Applicat., Vol.37, No.5, pp.1356-1364 (2001) 9) N.Teske, G.M.Asher, M.Sumner, K.J.Bradley㧦”Encorderless

Position Estimation for Symmetric Cage Induction Machines Under Loaded Conditions”, IEEE Trans. Ind. Applicat, Vol.37, No.6, pp.1793-1800 (2001)

10) F.Briz, M.W.Degner, A.Diez, R.D.Lorenz㧦”Static and Dynamic Behavior of Saturation-Induced Saliencies and Their Effect on Carrier-Signal-Based Sensorless AC Drives”, IEEE Trans. Ind. Applicat., Vol.38, No.3, pp.670-678 (2002)

11) N.Teske, G.M.Asher, M.Sumner, K.J.Bradley㧦”Analysis and Suppression of High-Frequency Inverter Modulation in Sensorless Position-Controlled Induction Machine Drives”, IEEE Trans. Ind. Applicat, Vol.39, No.1, pp.10-18 (2003) 12) C.Caruana, G.M.Asher, K.J.Bradley, M.Woolfson 㧦 ”Flux

Position Estimation in Cage Induction Machines Using Synchronous HF Injection and Kalman Filtering”, IEEE Trans. Ind. Applicat, Vol.39, No.5, pp.1372-1378 (2003)

13) J.Holtz, H.Pan㧦”Elimination of Saturation Effects in Sensorless Position-Controlled Induction Motors”, IEEE Trans. Ind. Applicat., Vol.40, No.2, pp.623-631 (2004)

14) F.Briz, M.W.Degner, P.Garcia, R.D.Lorenz㧦”Comparison of Saliency-Based Sensorless Control Techniques for AC Machines”, IEEE Trans. Ind. Applicat., Vol.40, No.4, pp.1107-1115 (2004)

15) ᷡᱞඳᢥ㧘◉ේൎᰴ㧘ਅ㤇ථ਽㧦ޟࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪ ߒߚ⺃ዉ㔚േᯏㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮߦߟ޿ߡޠ㧘㔚᳇ቇળ↥ᬺᔕ↪ㇱ㐷ᄢળ㧘Vol.1, No.1-103㧘pp.491-494 (2004)

16) C.Caruana, G.M.Asher, J.C.Clare㧦”Sensorless Flux Position Estimation at Low and Zero Frequency by Measuring Zero-Sequence Current in Delta-Connected Cage Induction Machines”, IEEE Trans. Ind. Applicat., Vol.41, No.2, pp.609-617 (2005)

17) ᷡᱞඳᢥ㧘◉ේൎᰴ㧘ਅ㤇ථ਽㧦ޟࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪ ߒߚㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮߩㅦᐲ೙ᓮ▸࿐ߦߟ޿ ߡޠ㧘㔚᳇ቇળ↥ᬺᔕ↪ㇱ㐷ᄢળ㧘Vol.1, No.1-75 pp.303-306 (2005)

18) F.Briz, M.W.Degner, P.G.Garcia, J.M.Guerrero㧦”Rotor Position Estimation of AC Machines Using the Zero-Sequence Carrier-Signal Voltage”, IEEE Trans. Ind. Applicat., Vol.41, No.6, pp.1637-1646 (2005)

19) J.Holtz, J.Juliet㧦“Sensorless Acquisition of the Rotor Position Angle of Induction Motors With Arbitrary Stator Windings”, IEEE Trans. Ind. Applicat., Vol.41, No.6, pp.1675-1682 (2005) 20) C.S.Staines, G.M.Asher, M.Sumner㧦”Rotor-Position Estimation

for Induction Machines at Zero and Low Frequency Utilizing Zero-Sequence Currents”, IEEE Trans. Ind. Applicat., Vol.42, No.1, pp.105-112 (2006)

逆相成分電流に含まれるスロット高調波を利用した誘導電動機速度センサレスベクトル制御

逆相成分電流に含まれるスロット高調波を利用した

誘導電動機速度センサレスベクトル制御

著者

清武 博文, 篠原 勝次, 加藤 大輔

雑誌名

鹿児島大学工学部研究報告

巻

48

ページ

23-28

別言語のタイトル

Vector Control of Induction Motor without

Speed Sensor Utilizing Slot Harmonics Included

in Negative Sequence Carrier Signal Current

URL

http://hdl.handle.net/10232/8265

逆相成分電流に含まれるスロット高調波を利用した

誘導電動機速度センサレスベクトル制御

著者

清武 博文, 篠原 勝次, 加藤 大輔

雑誌名

鹿児島大学工学部研究報告

巻

48

ページ

23-28

別言語のタイトル

Vector Control of Induction Motor without

Speed Sensor Utilizing Slot Harmonics Included

in Negative Sequence Carrier Signal Current

URL

http://hdl.handle.net/10232/00012579

ㅒ⋧ᚑಽ㔚ᵹߦ฽߹ࠇࠆࠬࡠ࠶࠻㜞⺞ᵄࠍ೑↪

ߒߚ⺃ዉ㔚േᯏㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮ

ᷡᱞ ඳᢥ

◉ේ ൎᰴ

ട⮮ ᄢテ

Vector Control of Induction Motor without Speed Sensor Utilizing Slot Harmonics

Included in Negative Sequence Carrier Signal Current

Hirofumi KIYOTAKE, Katsuji SHINOHARA and Daisuke KATOH

Speed sensorless vector controlled induction motor drives are the standard choice in many industrial

applications, but this can hardly control torque and rotor speed at low speed. Recently, a method based on

the high-frequency signal injection has been studied. This paper presents a method for suppressing the

effects of the saturation saliency by using high pass filter, and a new approach to estimate the rotor speed.

The effectiveness of these methods are demonstrated through experimental results showing good

sensorless speed control at low speed.

Keywords: Induction motor, sensorless vector control, high frequency signal injection, slot harmonics

㧝㧚߹߃߇߈

⺃ዉ㔚േᯏߩㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮᣇᑼߪ

ㅦᐲ࠮ࡦࠨࠍ↪޿ߚ႐วߦᲧߴࠦࠬ࠻࡮ࡔࡦ࠹࠽ࡦ

ࠬ࡮⠴ⅣႺᕈߩὐߢఝࠇߡ߅ࠅ㧘↥ᬺ⇇ߢታ↪ൻߐ

ࠇߡ޿ࠆޕ৻⥸ߦ㧘ㅦᐲ࠮ࡦࠨ࡟ࠬࡌࠢ࠻࡞೙ᓮᣇ

ᑼߢߪ⺃ዉ⿠㔚ജ߆ࠄ⏛᧤૏⟎߿࿁ォㅦᐲࠍផቯߒ

ߡ޿ࠆߚ߼㧘࿁ォㅦᐲ߇ૐߊߥࠆߣ⺃ዉ⿠㔚ജ߽ዊ

ߐߊߥࠅ㧘ᱜ⏕ߥㅦᐲ࡮࠻࡞ࠢ೙ᓮ߇࿎㔍ߣߥࠆ໧

㗴ὐ߇޽ࠆޕߎࠇߦኻߒߡ㧘ࠗࡦࡃ࡯࠲ߩ㔚࿶ᜰ઎

୯ߦ㜞๟ᵄାภ߿ᓸዊ᏷ߩ㔚࿶ࡌࠢ࠻࡞ࠍ㊀⇥ߒߡ

ࠬࡠ࠶࠻࡝ࡊ࡞߿⏛᳇㘻๺ߥߤ㔚േᯏߩᢙቇࡕ࠺࡞

ߢߪᛒࠊࠇߥ޿‛ℂ⃻⽎ࠍ೑↪ߒߡ⏛᧤૏⟎߿࿁ォ

ㅦ ᐲ ߩ ផ ቯ ࠍ ⴕ ߁ ᣇ ᑼ ߇ ឭ ᩺ ߐ ࠇ ߡ ޿ ࠆ

ޕߎߩਛߢ㧘ࠬࡠ࠶࠻࡝ࡊ࡞߆ࠄ࿁ォㅦ

ᐲࠍផቯߔࠆᣇᑼߪᬌ಴ේℂߦࠃߞߡએਅߩਃߟߩ

ࠞ࠹ࠧ࡝࡯ߦಽ㘃ߢ߈ࠆ

ޕ(γ) ᮡḰߩ㧼㨃㧹ࡄ࠲

࡯ࡦߦ⍴ᤨ㑆ߩᄢ߈ߐ߇หߓߢะ߈ߪ෻ኻߩ㔚࿶ࡌ

ࠢ࠻࡞ࠍශടߒ㔖⋧㔚ᵹߩᓸಽ୯߿㔖⋧㔚࿶߆ࠄṳ

ࠇࠗࡦ࠳ࠢ࠲ࡦࠬߩᄌൻࠍ᛽಴ߔࠆ㔖⋧ᚑಽᬌ಴ᴺ

㧘(δ) 㔚േᯏߩਛᕈὐߣ⋥ᵹ࡝ࡦࠢㇱߩ

ਛ㑆ὐߣߩ㑆ߢ᷹ቯߐࠇࠆ㔖⋧㔚࿶ߦ฽߹ࠇࠆࠬࡠ

࠶ ࠻ 㜞⺞ ᵄ߆ ࠄ ㅦᐲ ࠍផ ቯ ߔࠆ 㔖⋧ 㔚 ࿶ᬌ ಴ᴺ

㧘(ε) ৻ᰴ㔚ᵹߦ฽߹ࠇࠆㅒ⋧ᚑಽ㔚ᵹ߆ࠄࠬ

2006 ᐕ 8 ᦬ 30 ᣣฃℂ

* ඳ჻ᓟᦼ⺖⒟ࠪࠬ࠹ࡓᖱႎᎿቇኾ᡹㧔␠ળੱ㧕

㧔ᄢಽᎿᬺ㜞╬ኾ㐷ቇᩞ㔚᳇㔚ሶᎿቇ⑼㧕

** 㔚᳇㔚ሶᎿቇ⑼

*** ඳ჻೨ᦼ⺖⒟㔚᳇㔚ሶᎿቇኾ᡹

ࡠ࠶࠻㜞⺞ᵄࠍ᛽಴ߒߡㅦᐲࠍផቯߔࠆㅒ⋧ᚑಽ㔚

ᵹᬌ಴ᴺ

ߩ 3 ߟߢ޽ࠆޕߒ߆ߒ㧘਄⸥(γ)

清武博文, 篠原勝次, 加藤大輔

清武博文, 篠原勝次, 加藤大輔

_{◉ේ ൎᰴ}

_{ട⮮ ᄢテ}

ᧄᣇᑼߩේℂ

₍₁₎