Procedure for the regulation of an asynchronous motor

• US 5,194,797 A
• Filed: 06/10/1991
• Issued: 03/16/1993
• Est. Priority Date: 06/12/1990
• Status: Expired due to Fees

• Current Assignee: KONE Elevator GmbH
• Original Assignee: Montgomery Elevator Company (Kone Corporation), KONE Elevator GmbH
• Inventors: Kahkipuro, Matti
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/712,832
• Time in Patent Office: 645 Days
• Field of Search: 318/803, 318/805, 318/807, 318/609, 318/610, 318/789-823, 318/727-735
• US Class Current: 318/727
• CPC Class Codes: H02P 21/12 Stator flux based control involving the use of rotor position or rotor speed sensors

Abstract

Procedure for regulating the stator flux and torque of an asynchronous motor by vector control in an imaginary space vector coordinate system, in which procedure the absolute value (|Ψ_s |) of the stator flux and the torque (M) are determined in said coordinate system, and in which procedure the calculation coordinates are in such a position that the rotor flux (Ψ_r) is at least close to the real axis. In the procedure of the invention, the absolute value of the stator flux (|Ψ_s |) is regulated by means of the real part (u_sr) of the stator voltage and the torque (M) by means of the stator frequency (f_s). The calculation coordinates are held in said position by adjusting the imaginary part (u_si) of the stator voltage.

Claims

1. A method for regulating a stator flux and torque of an asynchronous motor by vector control in an imaginary space vector coordinate system, having a real and an imaginary axis, said method comprising the steps:

a) selecting said imaginary space vector coordinate system to have a relative position such that a rotor flux vector (Ψ

_r) is at least close to the real axis;

b) generating a simulated absolute value of a stator flux (|Ψ

_s|)and torque (T) determined in said coordinate system and processing said simulate stator flux and said torque for obtaining a real (u_sr) and an imaginary (u_si) part of a stator voltage and stator frequency (fs);

c) regulating the absolute value of the stator flux (|Ψ

_s |) by means of the real part (u_sr) of the stator voltage vector and regulating the torque (T) by means of the stator frequency (fs); and

d) holding said coordinate system in said relative position by adjusting the imaginary part (u_si) of the stator voltage vector.

2. A method according to claim 1, wherein said coordinate system rotates with the stator.

3. A method according to claim 1, wherein the absolute value of the stator flux remains constant.

4. A method according to claim 2, wherein the absolute value of the stator flux remains constant.

5. A method according to claim 1, wherein the absolute value of the stator flux and the torque are regulated by means of a PI controller whose time constant is selected according to the motor electrical parameters.

6. A method according to claim 1, for the regulation of an asynchronous motor controlled by a frequency converter, in which method step b) comprises measuring the speed of rotation (n) of the motor generating the torque (T) and the absolute value of the stator flux (|Ψ

_s |) in said coordinate system, in a simulator and step c) comprises the following sub-steps;

(c1) setting a reference value (Tref) for the simulated torque and a reference flux (Ψ

ref) for the absolute values of the stator flux;

(c2) subtracting the simulated torque (T) obtained from said simulator from the reference torque value (T_ref) and feeding the difference into a first PI controller;

the output of said first PI controller providing the rotor frequency (f_r);

forming the stator frequency (f_s) by summing the rotor frequency with the rotational speed (n) of the motor; and

the imaginary part (u_si) of the stator voltage being obtained by combining the stator frequency with a coefficient (k) dependent on the motor impedances;

(c3) subtracting the absolute value of the simulated stator flux (|Ψ

_s |) obtained from said simulator from the reference value of the stator flux (Ψ

_ref) and feeding the difference into a second PI controller; and

the output of the second PI controller giving the real part (u_sr) of the stator voltage, and

(c4) applying the imaginary and real parts (u_si, u_sr) of the stator voltage as well as the stator frequency (f_s) to said frequency converter to control solid state switches of inverter part thereof and to said simulator.

7. A method according to claim 4, for the regulation of an asynchronous motor controlled by a frequency converter, in which method step b) comprises measuring the speed of rotation (n) of the motor generating the torque (T) and the absolute value of the stator flux (|Ψ

_s |) in said coordinate system, in a simulator and step c) comprises the following sub-steps;

(c1) setting a reference value (Tref) for the simulated torque and a reference flux (Ψ

ref) for the absolute values of the stator flux;

(c2) subtracting the simulated torque (T) obtained from said simulator form the reference torque value (T_ref) and feeding the difference into a first PI controller;

the output of said first PI controller providing the rotor frequency (f_r);

forming the stator frequency (f_s) by summing the rotor frequency with the rotational speed (n) of the motor; and

the imaginary part (u_si) of the stator voltage being obtained by combining the stator frequency with a coefficient (k) dependent on the motor impedances;

(c3) subtracting the absolute value of the simulated stator flux (|Ψ

_s |) obtained form said simulator from the reference value of the stator flux (Ψ

_ref) and feeding the difference into a second PI controller; and

the output of the second PI controller giving the real part (u_sr) of the stator voltage, and

(c4) applying the imaginary and real parts (u_si, u_sr) of the stator voltage as well as the stator frequency (f_s) to said frequency converter to control solid state switches of inverter part thereof and to said simulator.

8. A method according to claim 1, for the regulation of a motor controlled by a pulse-width modulated frequency converter, in which control signals for the solid-state switches are generated via pulse-width modulation by comparing a modulation signal with a modulating signal, wherein the frequency of the modulating signal for pulse-width modulation is determined on the basis of the stator frequency and the angle (α

) of the stator voltage vector while the amplitude of the modulating signal is determined on the basis of the absolute value (U_s) of the stator voltage.

9. A method according to claim 7, for the regulation of a motor controlled by a pulse-width modulated frequency converter, in which control signals for the solid-state switches are generated via pulse-width modulation by comparing a modulation signal with a modulating signal, wherein the frequency of the modulating signal for pulse-width modulation is determined on the basis of the stator frequency and the angle (α

) of the stator voltage vector while the amplitude of the modulation signal is determined n the basis of the absolute value (U_s) of the stator voltage.

10. Method according to claim 1, wherein the motor is a squirrel-cage motor.