VVVF 6

*PWM

6.1 m

m m

6-1 Eg V Hz Wb f1NskNsm

6-1 Eg f1 m

6-1 m f1 f1N Eg 6-2

Us Eg

6-3

Us Eg Us b a

a b

f1N Us UsN Us = UsN

6-2 UsmNm

6.2 -

55-3 Te= f (s) Us 1 6-4

ss

6-5

ss Te = fs6-3

s 16-4Rr' 6-6s1s Te = fs

s sm6-3

- 6-4 Te ns Us 1 Us 1

1. Us /1 6-1 6-7

6-5 6-9 6-8

Us /1 Te s1 n 1 6-4

55-55-5 6-10

Temax 1 TemaxUs6-4

6-4

2. Eg /1 Eg Es Er

Us Eg /1 6-1 m

6-116-12

s6-12 s 6-13

s 16-12 Rr'2 6-14 s

6-46-12 Eg /1 s Us /1 s Eg /1

6-12 s dTe / ds = 0Eg /1 6-15 6-16

6-16Eg /1 Temax Us /1 Eg /1

Temax Eg /1

3. Er /1 Er /1 6-17

6-18 6-6

6-6 Er /1 Eg /1 Us /1 ab c

Er /1 Er /1

6-16-1 Eg m Er rm 6-19

rm = Constant Er /1 6-7

4 1 Us /1 = Constant

2Eg /1 rm = Constant

3 Er /1 rm Er /1 = Constant rm

Us= UsN 6-4 6-20

6-10

6-21 6-7

6-7

PI

6-22

6-22

6-23

dTe /dt = 0

6-24

6-25

6-8

55-45-55-4

5-5

1s=0Te= 0 sm Temax

3

12

12

1123

U1I1R1R2/SI2ImEm

T-1U1I1R1I2/ImR2/SR2/ST-1

T-10

T-1

Us1Er /1

6.3 (PWM)(SPWM)PWM(SHEPWM)PWM(CHBPWM)PWM(SVPWM)

PWM --

2080PWM

PWMPWM1PWMPWM2PWM3PWM

PWMPWMPWM

PWMPWMPWM1

THD 23mU1m

m

011Nm=0.8~0.94,

59

KHz

(SPWM)1. PWM Carrier waveModulation wave

Sinusoidal pulse width modulationSPWMSPWM

2. SPWMSPWMSPWM

PWM

1PWM

2PWM

36-18Ni

u(t)N

i

K=1 N

.

N=1 k=2N-1

3. PWM SPWM

SPWM

N2NSPWM

SPWM

2

Tc

tDD DABA tAB tBd

M 0 a

SPWMd

Tc /2MTc /2

PWMSPWMPWM816DSP

0.86433

12033m=1.220%m1.2

4. PWM fc fr N N = fc / fr PWM

1 fc fr N PWM1/4

fr N fr N PWM

2 N fr N N 3

PWMNfr fc fr fc

PWM

3 fr NN fr N fr N

4

5. PWM

6-20 PWMSPWM

6-20PWMurU urV urWUVW ucuUN uVN uWN UVWN uUV+Ud- Ud uUNN

PWM PWMPWM

PWMCurrent Hysteresis Band PWM CHBPWM PWM PWM A6-22

1. 6-22A

2h i*a ia ia hHBC ABC

PWM6-23 ia < i*a i*a - ia h HBCV1iai*aHBCiaia = i*a + h ia = h HBCV1 V4

VT4VD4VT4 HBC VT1VT1VD4 6-23

6-23

6-23ia Ia0.5 Ud Ia-0.5 Ud

PWM 6-24 PWM

PWMSPWM

6-23 6-23

f

f

PWMPWM(SVPWM)SVPWM

SPWM

PWMSVPWMSpace Vector PWM

1. uA0 uB0 uC0 6-25

uA0 uB0 uC0 120120 us 3/2

us 1 us 6-39 Is s

2. 6-40 us Is s

6-40 6-41 6-42

6-43 ms1

6-416-436-44

2 6-26

3. 1 PWM -6-27

6-27 -

1808 6 2 VT1VT3VT5 VT2VT4VT6

1

VT6 VT1 VT2

100

2

VT1 VT2 VT3

110

2

VT2 VT3 VT4

010

4

VT3 VT4 VT5

011

5

VT4 VT5 VT6

001

6

VT5 VT6 VT1

101

7

VT1 VT3 VT5

111

8

VT2 VT4 VT6

000

6 /3 /3

a 100VT6VT1VT2 UAO = Ud / 2 UBO = UCO = - Ud /2

b100 u1UdAX

c110 u1 /3110 u2 u1 /3 /3

d /3 6 2 6-28d

2

6-29 1 /3 6-28d u1 6-296-41

/3 t u1 1 |u1| u16-29 6-45 6-46

6-47 6-48 6O6

u1 t /3 i 6-30 6-30

4. SVPWM

PWMPWM [31]

6-31 11 12 13 14 4

6-32 6-32 T0 us

1 t1 t2 6-32 6-49

2 6-396-50 = 120

36-51 6-27Ud0 Ud

6-52

6-526-49

t1 t2 6-53 6-54

T0 T0 t1+ t2 u7 u8 u7 u8 6-55 0

66Sector/3

66-33 6

SVPWM T0 us

T0 PWM 6-32t1 t2t7 t8 4 u1u2u7 u8 100110111 000 4

127887211u1 2u2 100110111000000111110100

1278 81277218000100110111111110100000

T0 6-34

424

SVPWM1) 6 T0 T0 T0

2) 3) 4) PWM5) SVPWMSPWM15%

PWMPWM PWM,PWMPWM

PWMPWM 1 1 2 2mPWMSelected Harmonics Elimination PWMSHEPWM

6-21 PWM

6-21PWMk

6-26

Ud 1PWMi

k6-26 6-21PWM1/41/4 m m

m-1 m=5 4 571113 6-26

1 2 1/4 2m = - 1 2m-1 ...

2PWM PWMPWMPWM

3PWMPWM 6

PWM PWM12PWM 2 GTR

2KHz PWMPWMPWMPWM

1PWMPWMPWMPWM2PWMPWM3

PWM33PWM

4PWM

PWMBJT

10~20 IGBT2~5 PWM1

M3~iAiA>0iA

1SPWM2 3ASPWM AABCD

VD1VD4VT1A VT1VT4

ACEDFB

VD1VD4FAiA SPWMiA0 VT1VD4A iA

tdiAiA Etd iASPWM

2E

T1NSPWMN=ft/f rftf r

td

1SPWM

cf1f1N

6.4

-

6.2-

- IGBT IPM PWM--0.5~500KVA

12 6-37-

1.

2. URPWMUIC

CK

C

6-38

PWM

PWMPWMPWM81632DSPRISC

PWMPWMPWM

A/DCPU

U/f - U / f 6.2.2

U / f

PWM6-39

PWM6-39 PWM

0.

d / dt d / dt

1.

6.2.2 Eg /1 m 6-12

6-12

6-59 s = s1

s s1 s Llr'

6-61 6-61s ms s

2. 6-61s 6-12

s Tes Te Temax s smax6-40 m Te=f (s )

6-12 dTe / ds = 0

6-63 6-62

s 6-64 Tes

mm Eg/1 m 6-65

Eg/1Us/1 = Us Eg/1 - Us = f (1, Is)

6-41 -OUs /1=Const.Eg/1=Const.

Us 1 Is Eg/1 m

1 s sm Te s 2 Us = f (1 , Is) m

3.

FBS

PWMM3 ~ASR6-42

ASR s* 1*

6-66

1 Is Us = f (1 , Is) Us* Us* 1* PWM

6-66 s* 1* 1

ASR sm Tem

1 m m

2Us = f (1 , Is)

3 1 = s +

6.5

1.

Ud n Tm Tl Ts

2. 1

6-43

2

3

1120 2 3 4

6-44

ABC A abc a A

1.

Rs, RrA, B, C, a, b, c iA, iB, iC, ia, ib, ic uA, uB, uC, ua, ub, uc

p d /dt6-67a 6-67b

2. 6-68a 6-68b

L 66 LAA LBB LCCLaaLbbLcc

Lls Llr Lms Lmr

Lms = Lmr

6-69 6-70

1

120

6-71 6-72

6-44 Lms 6-736-746-75

6-69~6-756-68a 6-76

6-77 6-78

6-79

6-68b6-67b 6-80 Ldi /dt (dL / d)i

3. 6-81

6-82 m = / np

6-816-826-77~6-796-83

6-83 6-84

6-796-84 6-85

i

4. 6-86 TL J D K

D = 0 K = 0 6-87

5. 6-766-806-856-87 6-88

6-43 16-76

212 er Te L 3 12 1

1. 66

6-46 FA C F C A F d direct axis d ACq quadrature axis

6-46

q q d pseudo - stationary coils

d

A B C F 1 A-B-C a

1a

2Fi1b

b 9090 F abba

3c

c M T im it F F

a b M T M MT

abc iAiB iC ii imit

c MT

iAiB iC ii imit

2. --3/2 ABC 3/2

ABC A N3N2

AN2iN3iAN3iCN3iBN2i60o60oCB

6-89

6-90

u,i,

E

/

2/3

6-896-91

C3/2 6-92

Y iA + iB + iC = 0 iC = iA iB 6-926-936-94

6-95

3. 2s/2r b c MT 2s/2r s r

ii imit 1 Fs Fs is

MT Fs is 1 imit MT M is i i imit

2s/2r

6-96 6-97

6-96 (6-98)

(6-99)

4. /K/P is M s imit is s /K/P

6-1006-101

s 0~ 90tans 0 ~ s

6-102 6-1026-101 s

6.6.2ABC

dq

d A s ps = dqs d q dqr dq

6-67a6-68a 6-85 3/2 C2s/2r dq

ABC dq3/2C2s/2r

6-98dA

ABCdq0A

1dqo dA d

dq0

dq0

dq

1 dq 6-103a 6-103b

dq dq

dq

3/2dqdqABC 66

dq 6-50 dq

2AA

ABCAdq0

dq0BC

6-104

6-103b6-104 dq 6-105

6-1056-67a462 6-105 R Lp

6-106a

6-106a 6-106b

6.6.2ABC L 4 4 4

3ABCdqo6-85

dq0dq

3 dq 6-107 6-87

6-103a6-1046-1056-1076-86dqABC

6-1046-105 dq 6-516-51a d6-51b q4

dq

2. dqs= 0 dqr= - dq 6-105 6-108

6-109 6-103a

C2s/2r

6-108~6-110 KronTwo Axis Primitive Machine 6-110 6-107

3. dq dqs 1 dq dqr = 1 - = s 6-105

6-111

ABCdq

4dqdd06-111

dq

dq

6.6.441559 4 isd isq ird irq 4 sd sq rd rq

isd isq rd rq

isd isq sd sq

1. r is 6-103bdq 6-103b

6-1046-104

dqs = 1 dqr = 1 - = s urd = urq = 0 6-112

6-103b34

6-113 6-107

6-103b6-112 ird irqsd sq 6-1136-87 6-114

6-115 6-116 6-117

6-118

6-114~6-118 6-119 6-120

2. s is 6-103b6-112 ird irqrd rq 6-121 6-122

6-123 6-124

6-125 6-126 6-127

6.6

6.6.3 iA iB iC / ii im it

r Mim T it

ABC 3/2 im it

6-52 3/2/; VR; MA

Vector Control System

6-53

VR-1VR2/33/26-53

/dq

d MMagnetization q 90 TTorque MT Field Orientation

6-128

6-113 mtdq6-129 6-130

6-131 6-1326-1336-134

6-132 6-135

6-131 6-136 6-137

6-1366-137 6-136r ism ismr

6-1366-1376-1356-1296-546-52 r ism ist r Te ist r

6-54

6-53ARASRr 6-55 r Te

6-55

ASRr r r ARASR

r 6-55^

r

1. 3/2 is is 6-10934 6-138 6-139

6-138a 6-139b 6-108 34 ur = ur = 0

6-140 6-141 6-1406-141r r r

6-56

r r

2. iA iB iC 3/2 is is MT ismist6-1366-135 r s s 1

6-57

Rr Tr Lm Lr Tr

1

G

12GG

482-484

482~484485~487

y 489491

6-55r r r 6.7.2r

CHBPWM6-59aPWM6-59b

1CHBPWM6-59a

2PWM6-59b

3 PWM CHBPWM

PWM 6-60

ASR

Tr Lm 6-135

6-61--kWPWM

6-61

1ASR

i*st *s

r

2 i*sm *r 6-137

Tr p + 1

ism

3 i*smi*st /K/P i*s *s ACR90

4 *s 6-135

6.7 DTC ( Direct Torque Control)

12

0900

100t1t2 t1t2

000111110s1s2s3s4s5s6011101010001100 t2100

312 101

120102 101001011010100110123456abc101 000111

s1s2s6s4s3s5110010011001011100101110001010100101110010011001102ABCD

103 102BS102CD100

103===100123456 s1,s2,,s6P100

101 ,165432===101N

ASRATRAMCDMCAZS1104104AMCAZSDMCASRATRTQASSPNUi

DMC101 DMC DMC

AMC

105

ATRTQPN105 ATR1TQ2PN

- < - > TQ=1PN=0ASSDMC - > - < TQ=0PN=1ASS

- < TQ=1PN=1ASSDMC - > TQ=0PN=0 TQPN

TQPN110201311400

011S1

010106106

> - > =0 < -

PN=1TQ=1NYNYTQ=1YYNN107YN

1234

4

U1U2U3U4U5U6108397

108

397 U1U6,1091 (a)

2 (b) 3 +U3 -U4

109(a)(b)

(1)U3U4

(2)U1U6(3)U1U6 110(a)(b)

110(a)t(b) +

110(a) +U3U4U3110(b)t0,t1t1U4t2

t2+U3U4(b)

-U1U6

VCDTCVC1- PWM SVPWM

2VC-

34

(DTC)(VC)

-DTC-

1. DTC 6-1086-109

6-146 6-147 6-63

6-63

30%

399400

i-n3-64ABCABC

30%

2. 6-110 6-109

6-1106-148 DTC6-64

6-64

DTC1-

2

DTC

DTCVC

VC Te rr

DTC DTC Te s -

6-1

6-1

[] DTC

6-1DTCVC

6.8 d-qd

424q423

dq

q

d

c4-30431432

1 2

6.9 1 2

U f 220Vf=50HZ) =1Wb1Wb 1Wb220V,

3 CSIVSICSIVSI

CSI4 5

1

D

PI1PI2ABPI3C

1

PIPI3E0

KT=0.5=0.707

PI3M3~uiq2

PI2A1/(Tfs+1)1/(Tfs+1)442PI

PI2H

0.707,KTf=0.54-111d

PI2M3~ui4-111

3

PI11/(Tws+1)1/(Tws+1)

PI1

PI

PI1PI2VSIF(w)PI3M3~abc

6.101234

PI1

411041114112

24116

4119

1232PI

PI41264125

4128 4127 =0 PI

q

PI PI

1

054052

MT

055

ASRPG

058MT

T

0532~0534T0532

n

051405150535

1 VFVV

2