Method and apparatus for controlling AC motors

• US 4,456,868 A
• Filed: 11/26/1982
• Issued: 06/26/1984
• Est. Priority Date: 03/31/1981
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Kawada, Shigeki, Yamamura, Sakae
• Primary Examiner(s): Witkowski, Stanley J.
• Assistant Examiner(s): EVANS, ARTHUR G
• Application Number:
  US06/445,370
• Time in Patent Office: 578 Days
• Field of Search: 318/798-811, 318/615-618, 318/603
• US Class Current: 318/800
• CPC Class Codes: H02P 21/09 Field phase angle calculation based on rotor voltage equation by adding slip frequency and speed proportional frequency

Abstract

An AC motor control method and apparatus therefor, for controlling an AC motor 11 by holding the excitation current I₀ of the AC motor 11 constant and varying primary current I₁ in accordance with a speed deviation Δn. Stored previously in a memory device 18 are a torque T-slip frequency ω_s characteristic, a slip frequency ω_s -primary current vector I₁ characteristic, and a slip frequency ω_s and phase φ₁ characteristic which take secondary leakage reactance into account. Slip frequency ω_s, primary current vector I₁ and phase φ₁ are read out of the memory device in accordance with the torque command T obtained from the speed deviation Δn, whereby three-phase current commands i_u, i_v, i_w are produced. Accordingly, torque irregularity is suppressed and an excellent response obtained.

Claims

1. An AC motor control method comprising the steps of:

(a) a step of obtaining slip frequency, phase difference and primary current amplitude using a speed command and an actual speed;

(b) a step of determining angular frequency in accordance with the actual speed of the AC motor;

(c) a step of producing a three-phase current command having a frequency by using the slip frequency, phase difference and primary current amplitude obtained in step (a), as well as said angular frequency; and

(d) a step of driving the AC motor by said three-phase current command, wherein step (a) includes

i computing a torque command from a deviation between said speed command signal and actual speed, where a torque-slip frequency relation and a slip frequency-primary current vector relation which take the secondary leakage reactance of said AC motor into account are predetermined;

ii finding said slip frequency using the torque command obtained in step (i) and the torque-slip frequency relation; and

then

iii finding said primary current amplitude and phase difference using said slip frequency and slip frequency-primary current vector relation.

2. An AC motor control method according to claim 1, further including a step of obtaining the frequency of the primary current by adding the slip frequency obtained in step (a), and the angular frequency.

3. An AC motor control method according to claim 1, further including a step of passing a direct excitation current through stator windings when the AC motor is at rest.

4. An AC motor control method according claim 1, characterized in step (iii) includes finding a primary current for a slip frequency of zero from said slip frequency-primary current vector relation and employing this primary current as an excitation current passed through the stator windings when the motor is at rest.

5. An AC motor control method according to claim 1, including a step of finding a positional offset between a commanded position and a current position and generating said speed command corresponding to said positional offset.

6. An AC motor control apparatus including:

a speed sensor for sensing the actual speed of the AC motor;

angular frequency detection means for providing an angular frequency signal in accordance with the actual speed of the AC motor;

torque command generating means for generating a torque command on the basis of a speed deviation between a speed command and an actual speed from said speed sensor;

memory means for storing a torque-slip frequency characteristic, a slip frequency-amplitude characteristic and a slip frequency-phase characteristic which take secondary leakage reactance into account, for providing a slip frequency in accordance with said torque command and said torque-slip frequency characteristic, for providing a primary current amplitude in accordance with said slip frequency and said slip frequency-amplitude characteristic, and for providing a phase signal in accordance with said slip frequency and said slip frequency-phase charcteristic;

an arithmetic circuit for computing a three-phase current command from said slip frequency, said primary current amplitude, said phase signal, and from said angular frequency signal; and

a drive circuit for driving the AC motor by means of the three-phase current command from said arithmetic circuit.

7. An AC motor control apparatus according to claim 6, further including a position detector for detecting the current position of a movable element driven by the AC motor, and speed command generating means for obtaining an offset between said detected curent position and a commanded position and for generating a speed command in accordance with said offset.

8. A method for controlling an AC motor in accordance with a slip frequency, a phase difference, a primary current amplitude, a commanded speed and an actual speed, said method comprising the steps of:

(a) computing a torque command in accordance with the difference between said commanded speed and said actual speed;

(b) computing the slip frequency in accordance with the torque command, and the following relation ##EQU11## wherein T corresponds to said torque command, and ##EQU12## where r₂ is the secondary resistance, 1_m is the excitation inductance, 1₂ is the secondary leakage inductance, w_s is the slip frequency and I_o is the excitation current;

(c) computing the primary current amplitude using said slip frequency and the following equation ##EQU13## wherein k₃ 1₂², k₄ =1/r₂² ·

21₂ (1₂ 1_m) r₂² 1_m²),

and ##EQU14## (d) computing a phase difference using said slip frequency and the following relation ##EQU15## (e) determining an angular frequency in accordance with the actual speed of AC motor;

(f) generating a three-phase primary current command using the slip frequency, the phase difference, the primary current amplitude and the angular frequency; and

(g) driving the AC motor in accordance with said three-phase primary current command.