JP3099159B2 - Method and apparatus for measuring motor constants - Google Patents
Method and apparatus for measuring motor constantsInfo
- Publication number
- JP3099159B2 JP3099159B2 JP19723293A JP19723293A JP3099159B2 JP 3099159 B2 JP3099159 B2 JP 3099159B2 JP 19723293 A JP19723293 A JP 19723293A JP 19723293 A JP19723293 A JP 19723293A JP 3099159 B2 JP3099159 B2 JP 3099159B2
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- Japan
- Prior art keywords
- axis
- voltage command
- command
- motor
- signal
- Prior art date
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- Expired - Lifetime
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- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
- Control Of Ac Motors In General (AREA)
Description
【0001】[0001]
【産業上の利用分野】本発明は、電動機定数測定方法及
び装置に係り、特に交流電動機をベクトル制御する制御
装置において必要な電動機定数を測定するに好適な電動
機定数測定方法及びその装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for measuring a motor constant, and more particularly to a method and an apparatus for measuring a motor constant suitable for measuring a motor constant required in a control device for vector-controlling an AC motor.
【0002】[0002]
【従来の技術】ベクトル制御装置を用いて交流電動機を
制御するに際しては、対象となる交流電動機の定数に基
づいて制御定数を設定することが必要である。このた
め、従来、電動機定数の設計値に基づいて制御定数を設
定したり、または抵抗測定試験、無負荷試験、拘束試験
により必要な電動機定数を測定し、この測定結果から制
御定数を設定する方法が採用されている。2. Description of the Related Art When controlling an AC motor using a vector control device, it is necessary to set a control constant based on the constant of the target AC motor. For this reason, conventionally, a method of setting a control constant based on a design value of a motor constant, or measuring a required motor constant by a resistance measurement test, a no-load test, and a constraint test, and setting a control constant from the measurement result Has been adopted.
【0003】しかし、電動機の設計値を用いる前者の方
法では、設計値と実際値の不一致により制御演算誤差が
生じ、制御定数を設定したあと再調整を余儀なくされて
いる。However, in the former method using the design value of the electric motor, a control calculation error occurs due to a mismatch between the design value and the actual value, and it is necessary to readjust after setting the control constant.
【0004】一方、各種の測定試験によって得られた測
定結果を用いる後者の方法では、拘束試験で電動機を固
定する器具が必要となるなど、各種測定を行うための準
備作業が煩雑となる。[0004] On the other hand, in the latter method using the measurement results obtained by various measurement tests, preparation work for performing various measurements is complicated, for example, an instrument for fixing the electric motor in the constraint test is required.
【0005】そこで、これらの問題点に対処するものと
して、特開昭62−262697号公報に記載されてい
るものがある。これは、インバータ制御装置に電動機を
接続した状態で、各種測定条件を与えたときの電圧指令
値と電流検出値を求め、これらの値に従って、電動機定
数を測定し、この測定結果に従って制御定数を設定する
ものであり、直流励磁により一次抵抗(r1)を、三相
交流励磁により一次と二次の合成抵抗(rσ=r1+r
2’)及び一次と二次の合成漏れインダクタンス(Lσ=
l1+l2’)を、さらに無負荷一定速運転により相互イ
ンダクタンス (M’)を測定している。To cope with these problems, there is one described in Japanese Patent Application Laid-Open No. 62-262697. In this method, with the motor connected to the inverter control device, the voltage command value and the current detection value when various measurement conditions are given are determined, the motor constant is measured according to these values, and the control constant is determined according to the measurement result. The primary resistance (r1) is set by DC excitation, and the combined primary and secondary resistance (rσ = r1 + r) by three-phase AC excitation.
2 ') and the combined primary and secondary leakage inductance (Lσ =
l1 + l2 '), and the mutual inductance (M') is measured by running at a constant speed with no load.
【0006】[0006]
【発明が解決しようとする課題】しかし、従来技術で
は、上記合成抵抗rσ、合成漏れインダクタンスLσの
測定時に電動機に三相の交流電流が流れ、トルクが発生
するため、電動機を回転停止状態に維持することができ
ず、測定時に電動機が回転すると、測定精度が劣化し電
動機定数として正確な値が得られない。However, in the prior art, when measuring the combined resistance rσ and the combined leakage inductance Lσ, a three-phase AC current flows through the motor, and a torque is generated. If the motor rotates during the measurement, the measurement accuracy deteriorates and an accurate value cannot be obtained as the motor constant.
【0007】また電動機が回転しない程度の微小電流に
て測定を行うとインバータの高調波成分やノイズの影響
によって同様に測定精度が劣化する。If the measurement is performed with a very small current that does not cause the motor to rotate, the accuracy of the measurement similarly deteriorates due to the influence of harmonic components and noise of the inverter.
【0008】さらに電動機定数の測定式が高周波電圧に
基づく近似から導かれているため、有限周波数では必ず
誤差が生じる。Further, since the measurement formula of the motor constant is derived from the approximation based on the high-frequency voltage, an error always occurs at a finite frequency.
【0009】また高周波電圧印加時には、インバータの
パルス分解能やインクルメント誤差の影響により、出力
電圧が指令電圧と異なり、その結果測定精度が劣化す
る。When a high-frequency voltage is applied, the output voltage differs from the command voltage due to the influence of the pulse resolution and the increment error of the inverter, and as a result, the measurement accuracy deteriorates.
【0010】また相互インダクタンスM’の測定におい
ては測定式の中にそれ以前に測定した一次抵抗r1、合
成漏れインダクタンスLσ が使用され、さらに二次抵
抗(r2)及び 二次時定数(T2) では以前に測定した
値r1、 rσ、M’を用いて演算される為、その測定精
度には前測定値の精度が大きく影響を与えるという問題
があった。In the measurement of the mutual inductance M ', the primary resistance r1 and the combined leakage inductance Lσ measured earlier are used in the measurement formula, and the secondary resistance (r2) and the secondary time constant (T2) Since the calculation is performed using the previously measured values r1, rσ, and M ', there is a problem that the accuracy of the previous measurement greatly affects the measurement accuracy.
【0011】本発明はこのような事情に鑑みてなされた
ものであり、電動機を回転停止状態を維持しながら任意
の周波数の測定信号を用いて、必要な全ての電動機定数
を正確に測定することのできる電動機定数測定方法及び
装置を提供することを目的とする。The present invention has been made in view of such circumstances, and it is an object of the present invention to accurately measure all necessary motor constants using a measurement signal of an arbitrary frequency while maintaining the motor in a stopped state. It is an object of the present invention to provide a method and an apparatus for measuring a motor constant that can be performed.
【0012】[0012]
【課題を解決するための手段】本発明の電動機定数測定
方法は、d軸電圧指令とq軸電圧指令並びに一次角周波
数指令に従って三相電圧指令信号を生成し、これに比例
して電力変換器の出力電圧を制御して電動機に印加する
とともに、出力電流を検出し、この検出電流と一次角周
波数指令に従ってd軸電流成分とq軸電流成分を検出す
るに際して、一次角周波数指令とq軸電圧指令の各指令
値をそれぞれ零とする条件下で、d軸電圧指令値として
交流信号を与え、これに基づいて生成された三相電圧指
令信号に従う変換器出力電圧を電動機に印加し、このと
き電動機に流れるd軸電流成分を検出し、この検出値を
前記交流信号を基準とするフーリエ展開に従って分析
し、この基本波成分のフーリエ係数を得るのに前記交流
信号に関して二つの周波数を用いて行い、そのフーリエ
係数と電動機モデルにおける出力電流/入力電圧の周波
数特性から得られる前記フーリエ係数と対応する電流成
分値との関係から電動機定数を求めることを特徴とす
る。According to the motor constant measuring method of the present invention, a three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command and a primary angular frequency command, and a power converter is proportionally generated. The output voltage is controlled and applied to the motor, and the output current is detected. When the d-axis current component and the q-axis current component are detected according to the detected current and the primary angular frequency command, the primary angular frequency command and the q-axis voltage Under the condition that each command value of the command is set to zero, an AC signal is given as a d-axis voltage command value, and a converter output voltage according to a three-phase voltage command signal generated based on this is applied to the electric motor. A d-axis current component flowing through the motor is detected, and the detected value is analyzed in accordance with Fourier expansion based on the AC signal, and two components of the AC signal are obtained to obtain a Fourier coefficient of the fundamental wave component. Performed with wavenumber, and obtaining the motor constants from the relationship between the current component value corresponding to the Fourier coefficient obtained from the frequency characteristics of the output current / input voltage at its Fourier coefficients and motor model.
【0013】また本発明の電動機定数測定方法は、d軸
電圧指令とq軸電圧指令並びに一次角周波数指令に従っ
て三相電圧指令信号を生成し、これに比例して電力変換
器の出力電圧を制御して電動機に印加するとともに、出
力電流を検出し、この検出電流と一次角周波数指令に従
ってd軸電流成分とq軸電流成分を検出するに際して、
一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とする条件下で、q軸電圧指令値として交流信号を与
え、これに基づいて生成された三相電圧指令信号に従う
変換器出力電圧を電動機に印加し、このとき電動機に流
れるq軸電流成分を検出し、この検出値を前記交流信号
を基準とするフーリエ展開に従って分析し、この基本波
成分のフーリエ係数を得るのに前記交流信号に関して二
つの周波数を用いて行い、そのフーリエ係数と電動機モ
デルにおける出力電流/入力電圧の周波数特性から得ら
れる前記フーリエ係数と対応する電流成分値との関係か
ら電動機定数を求めることを特徴とする。Further, according to the motor constant measuring method of the present invention, a three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion thereto. And applying the same to the motor, detecting the output current, and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command.
Under the condition that each command value of the primary angular frequency command and the d-axis voltage command is set to zero, an AC signal is given as a q-axis voltage command value, and a converter output voltage according to a three-phase voltage command signal generated based on this signal. Is applied to the motor, a q-axis current component flowing through the motor is detected at this time, and the detected value is analyzed according to Fourier expansion based on the AC signal, and the AC signal is used to obtain a Fourier coefficient of the fundamental wave component. Is performed using two frequencies, and the motor constant is obtained from the relationship between the Fourier coefficient obtained from the frequency characteristics of the output current / input voltage in the motor model and the corresponding current component value.
【0014】更に本発明の電動機定数測定方法は、d軸
電圧指令とq軸電圧指令並びに一次角周波数指令に従っ
て三相電圧指令信号を生成し、これに比例して電力変換
器の出力電圧を制御して電動機に印加するとともに、出
力電流を検出し、この検出電流と一次角周波数指令に従
ってd軸電流成分とq軸電流成分を検出するに際して、
一次角周波数指令とq軸電圧指令の各指令値をそれぞれ
零とする条件下で、d軸電圧指令値として二つの周波数
成分を含む交流信号を与え、これに基づいて生成された
三相電圧指令信号に従う変換器出力電圧を電動機に印加
し、このとき電動機に流れるd軸電流成分を検出し、こ
の検出値を前記交流信号を基準とするフーリエ展開に従
って分析し、前記二つの周波数成分の各基本波成分に対
するフーリエ係数を得、それらのフーリエ係数と電動機
モデルにおける出力電流/入力電圧の周波数特性から得
られる前記フーリエ係数と対応する電流成分値との関係
から電動機定数を求めることを特徴とする。Further, according to the motor constant measuring method of the present invention, a three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion thereto. And applying the same to the motor, detecting the output current, and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command.
Under the condition that each command value of the primary angular frequency command and the q-axis voltage command is set to zero, an AC signal including two frequency components is given as a d-axis voltage command value, and a three-phase voltage command generated based on the signal. A converter output voltage according to the signal is applied to the motor, a d-axis current component flowing through the motor at this time is detected, and the detected value is analyzed according to Fourier expansion based on the AC signal, and each basic component of the two frequency components is analyzed. It is characterized in that Fourier coefficients for wave components are obtained, and a motor constant is obtained from the relationship between the Fourier coefficients obtained from the frequency characteristics of the output current / input voltage in the motor model and the corresponding current component value.
【0015】また本発明の電動機定数測定方法は、d軸
電圧指令とq軸電圧指令並びに一次角周波数指令に従っ
て三相電圧指令信号を生成し、これに比例して電力変換
器の出力電圧を制御して電動機に印加するとともに、出
力電流を検出し、この検出電流と一次角周波数指令に従
ってd軸電流成分とq軸電流成分を検出するに際して、
一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とする条件下で、q軸電圧指令値として二つの周波数
成分を含む交流信号を与え、これに基づいて生成された
三相電圧指令信号に従う変換器出力電圧を電動機に印加
し、このとき電動機に流れるq軸電流成分を検出し、こ
の検出値を前記交流信号を基準とするフーリエ展開に従
って分析し、前記二つの周波数成分の各基本波成分に対
するフーリエ係数を得、それらフーリエ係数と電動機モ
デルにおける出力電流/入力電圧の周波数特性から得ら
れる前記フーリエ係数と対応する電流成分値との関係か
ら電動機定数を求めることを特徴とする。Further, according to the motor constant measuring method of the present invention, a three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion thereto. And applying the same to the motor, detecting the output current, and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command.
Under the condition that each command value of the primary angular frequency command and the d-axis voltage command is set to zero, an AC signal including two frequency components is given as a q-axis voltage command value, and a three-phase voltage command generated based on this. A converter output voltage according to the signal is applied to the motor, a q-axis current component flowing through the motor at this time is detected, and the detected value is analyzed according to Fourier expansion based on the AC signal, and each basic component of the two frequency components is analyzed. A Fourier coefficient for a wave component is obtained, and a motor constant is obtained from a relationship between the Fourier coefficient, the Fourier coefficient obtained from a frequency characteristic of an output current / input voltage in a motor model, and a corresponding current component value.
【0016】更に本発明のベクトル制御器の制御定数設
定方法は、前記いずれかの電動機定数測測定方法により
求められた電動機定数に基づいて、q軸電流指令とd軸
電流指令並びにq軸電流成分とd軸電流成分を基にd軸
電圧指令とq軸電圧指令並びに一次角周波数指令を生成
するためのベクトル制御器の制御定数を設定することを
特徴とする。Further, the control constant setting method of the vector controller according to the present invention includes a q-axis current command, a d-axis current command, and a q-axis current component based on the motor constant obtained by any one of the motor constant measurement and measurement methods. And a control constant of a vector controller for generating a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command based on the d-axis current component.
【0017】また本発明の電動機定数測定装置は、d軸
電圧指令とq軸電圧指令並びに一次角周波数指令に従っ
て三相電圧指令信号を生成する三相電圧指令信号生成手
段と、前記三相電圧指令に比例した交流電圧を電動機に
印加する電力変換器と、該電力変換器の出力電流を検出
する出力電流検出手段と、出力電流検出手段の検出電流
と一次角周波数指令に従ってd軸電流成分とq軸電流成
分を生成する電流成分生成手段と、一次角周波数指令と
q軸電圧指令の各指令値をそれぞれ零に設定するととも
にd軸電圧指令値として交流信号を与える測定信号発生
手段と、前記交流信号に従って変化する三相交流電圧が
電動機に印加された結果として、電流成分生成手段で検
出されたd軸電流成分に基づいて、請求項1または3の
いずれかの方法により電動機定数を算出する電動機定数
算出手段とを有することを特徴とする。Further, the motor constant measuring apparatus according to the present invention comprises: a three-phase voltage command signal generating means for generating a three-phase voltage command signal in accordance with a d-axis voltage command, a q-axis voltage command and a primary angular frequency command; A power converter for applying an AC voltage proportional to the following to the motor; an output current detecting means for detecting an output current of the power converter; a d-axis current component and q according to a detected current of the output current detecting means and a primary angular frequency command. Current component generating means for generating an axis current component; measuring signal generating means for setting each command value of a primary angular frequency command and a q-axis voltage command to zero and providing an AC signal as a d-axis voltage command value; The method according to claim 1, wherein the three-phase AC voltage that changes according to the signal is applied to the motor based on the d-axis current component detected by the current component generation unit. Ri and having a motor constant calculating means for calculating a motor constant.
【0018】更に本発明の電動機定数測定装置は、d軸
電圧指令とq軸電圧指令並びに一次角周波数指令に従っ
て三相電圧指令信号を生成する三相電圧指令信号生成手
段と、前記三相電圧指令に比例した交流電圧を電動機に
印加する電力変換器と、該電力変換器の出力電流を検出
する出力電流検出手段と、出力電流検出手段の検出電流
と一次角周波数指令に従ってd軸電流成分とq軸電流成
分を生成する電流成分生成手段と、一次角周波数指令と
d軸電圧指令の各指令値をそれぞれ零に設定するととも
にq軸電圧指令値として交流信号を与える測定信号発生
手段と、前記交流信号に従って変化する三相交流電圧が
電動機に印加された結果として、電流成分生成手段で検
出されたd軸電流成分に基づいて、請求項2または4の
いずれかの方法により電動機定数を算出する電動機定数
算出手段とを有することを特徴とする。Further, the motor constant measuring apparatus according to the present invention comprises: a three-phase voltage command signal generating means for generating a three-phase voltage command signal in accordance with a d-axis voltage command, a q-axis voltage command and a primary angular frequency command; A power converter for applying an AC voltage proportional to the following to the motor; an output current detecting means for detecting an output current of the power converter; a d-axis current component and q according to a detected current of the output current detecting means and a primary angular frequency command. Current component generating means for generating an axis current component; measuring signal generating means for setting each command value of a primary angular frequency command and a d-axis voltage command to zero and providing an AC signal as a q-axis voltage command value; The method according to claim 2, wherein the three-phase AC voltage that changes according to the signal is applied to the motor based on the d-axis current component detected by the current component generation unit. Ri and having a motor constant calculating means for calculating a motor constant.
【0019】また本発明のインバータ装置は、前記ベク
トル制御器の制御定数設定方法により制御定数が設定さ
れるベクトル制御器を含んで構成されたことを特徴とす
る。Further, the inverter device according to the present invention is characterized in that it comprises a vector controller whose control constant is set by the control constant setting method of the vector controller.
【0020】[0020]
【作用】上記構成の電動機定数測定方法では一次角周波
数指令とq軸電圧指令の各指令値をそれぞれ零とし、d
軸電圧指令値として交流信号を付加すると、電動機巻線
には三相交流電流が流れず、V相とW相の電流が同相と
なり、単相交流電流が流れるため、電動機は回転せずに
停止状態を維持することができる。そして、電動機の回
転が停止されているときに、電動機に流れるd軸電流成
分を検出し、この検出値に基づいて電動機定数の測定値
を得ることができる。この場合、電動機に流れるd軸電
流成分の検出値を前記交流信号を基準とするフーリエ展
開に従って分析し、基本波成分のフーリエ係数を得る。
これを前記交流信号に関して二つの周波数を用いて行
い、そのフーリエ係数と電動機モデルにおける出力電流
/入力電圧の周波数特性から得られる前記フーリエ係数
と対応する電流成分値との関係から電動機定数を求める
ことにより、同じ測定状態の下で、精度劣化の要因であ
るインバータのパルス分解能やインクルメント誤差など
の影響が小さい任意の周波数の測定信号を用いて、必要
な全ての電動機定数を正確に求めることができる。In the motor constant measuring method having the above structure, the primary angular frequency command and the q-axis voltage command are set to zero, and d
When an AC signal is added as the shaft voltage command value, the three-phase AC current does not flow through the motor winding, the V-phase and W-phase currents become in-phase, and the single-phase AC current flows, so the motor stops without rotating. State can be maintained. When the rotation of the motor is stopped, a d-axis current component flowing through the motor is detected, and a measured value of the motor constant can be obtained based on the detected value. In this case, the detected value of the d-axis current component flowing through the motor is analyzed according to Fourier expansion based on the AC signal to obtain a Fourier coefficient of a fundamental wave component.
This is performed using two frequencies for the AC signal, and a motor constant is obtained from a relationship between the Fourier coefficient obtained from the frequency characteristic of the output current / input voltage in the motor model and the corresponding current component value. Under the same measurement conditions, it is possible to accurately obtain all the necessary motor constants using a measurement signal of any frequency that is less affected by the pulse resolution of the inverter and the increment error, which are the causes of the deterioration in accuracy. it can.
【0021】また上記構成の電動機定数測定方法では、
一次角周波数指令とq軸電圧指令の各指令値をそれぞれ
零とし、d軸電圧指令値として二つの周波数成分を持つ
交流信号を付加すると、電動機巻線には三相交流電流が
流れず、V相とW相の電流が同相となり、単相交流電流
が流れるため、電動機は回転せずに停止状態を維持する
ことができる。そして、電動機の回転が停止されている
ときに、電動機に流れるd軸電流成分を検出し、この検
出値に基づいて、電動機定数の測定値を得ることができ
る。この場合、電動機に流れるd軸電流成分の検出値を
前記交流信号を基準とするフーリエ展開に従って分析
し、前記二つの周波数成分の各基本波成分に対するフー
リエ係数を得る。それらフーリエ係数と電動機モデルに
おける出力電流/入力電圧の周波数特性から得られる前
記フーリエ係数と対応する電流成分値との関係から電動
機の定数を求めることにより、同じ測定状態の下で、精
度劣化の要因であるインバータのパルス分解能やインク
ルメント誤差などの影響が小さい任意の周波数の測定信
号を用いて、必要な全ての電動機定数を正確に求めるこ
とができる。Further, in the motor constant measuring method having the above configuration,
When the command values of the primary angular frequency command and the q-axis voltage command are set to zero and an AC signal having two frequency components is added as the d-axis voltage command value, a three-phase AC current does not flow through the motor winding, and V Since the currents of the phase and the W-phase become in-phase and a single-phase alternating current flows, the motor can be kept stopped without rotating. When the rotation of the motor is stopped, a d-axis current component flowing through the motor is detected, and a measured value of the motor constant can be obtained based on the detected value. In this case, the detected value of the d-axis current component flowing through the motor is analyzed according to Fourier expansion based on the AC signal to obtain a Fourier coefficient for each of the fundamental components of the two frequency components. By obtaining the motor constant from the relationship between the Fourier coefficient and the current component value corresponding to the Fourier coefficient obtained from the frequency characteristic of the output current / input voltage in the motor model, the factor of accuracy deterioration is obtained under the same measurement condition. It is possible to accurately obtain all necessary motor constants by using a measurement signal of an arbitrary frequency that is less affected by the pulse resolution of the inverter and the increment error.
【0022】更に上記構成の電動機定数測定方法では、
一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とし、q軸電圧指令値として交流信号を付加すると、
電動機巻線には三相交流電流が流れず、U相が0とな
り、V相とW相の電流は同じ大きさで逆相となり、単相
交流電流が流れるため、電動機は回転せずに停止状態を
維持することができる。そして、電動機の回転が停止さ
れているときに、電動機に流れるd軸電流成分を検出
し、この検出値に基づいて電動機定数の測定値を得るこ
とができる。この場合、電動機に流れるq軸電流成分の
検出値を前記交流信号を基準とするフーリエ展開に従っ
て分析し、基本波成分のフーリエ係数を得る。これを前
記交流信号に関して二つの周波数を用いて行い、そのフ
ーリエ係数と電動機モデルにおける出力電流/入力電圧
の周波数特性から得られる前記フーリエ係数と対応する
電流成分値との関係から電動機定数を求めることによ
り、同じ測定状態の下で、精度劣化の要因であるインバ
ータのパルス分解能やインクルメント誤差などの影響が
小さい任意の周波数の測定信号を用いて、必要な全ての
電動機定数を正確に求めることができる。Further, in the motor constant measuring method having the above structure,
When each command value of the primary angular frequency command and the d-axis voltage command is set to zero, and an AC signal is added as a q-axis voltage command value,
The three-phase AC current does not flow through the motor winding, the U-phase becomes 0, the V-phase and W-phase currents have the same magnitude and opposite phases, and the single-phase AC current flows, so the motor stops without rotating. State can be maintained. When the rotation of the motor is stopped, a d-axis current component flowing through the motor is detected, and a measured value of the motor constant can be obtained based on the detected value. In this case, the detected value of the q-axis current component flowing through the motor is analyzed according to Fourier expansion based on the AC signal to obtain a Fourier coefficient of a fundamental wave component. This is performed using two frequencies for the AC signal, and a motor constant is obtained from a relationship between the Fourier coefficient obtained from the frequency characteristic of the output current / input voltage in the motor model and the corresponding current component value. Under the same measurement conditions, it is possible to accurately obtain all the necessary motor constants using a measurement signal of any frequency that is less affected by the pulse resolution of the inverter and the increment error, which are the causes of the deterioration in accuracy. it can.
【0023】また上記構成の電動機定数測定方法では、
一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とし、q軸電圧指令値として二つの周波数成分を持つ
交流信号を付加すると、電動機巻線には三相交流電流が
流れず、U相が0となり、V相とW相の電流は同じ大き
さで逆相となり、単相交流電流が流れるため、電動機は
回転せずに停止状態を維持することができる。そして、
電動機の回転が停止されているときに、電動機に流れる
d軸電流成分を検出し、この検出値に基づいて、電動機
定数の測定値を得ることができる。この場合、電動機に
流れるq軸電流成分の検出値を前記交流信号を基準とす
るフーリエ展開に従って分析し、前記二つの周波数成分
の各基本波成分に対するフーリエ係数を得る。それらフ
ーリエ係数と電動機モデルにおける出力電流/入力電圧
の周波数特性から得られる前記フーリエ係数と対応する
電流成分値との関係から電動機の定数を求めることによ
り、同じ測定状態の下で、精度劣化の要因であるインバ
ータのパルス分解能やインクルメント誤差などの影響が
小さい任意の周波数の測定信号を用いて、必要な全ての
電動機定数を正確に求めることができる。In the motor constant measuring method having the above-described structure,
When the command values of the primary angular frequency command and the d-axis voltage command are set to zero and an AC signal having two frequency components is added as the q-axis voltage command value, a three-phase AC current does not flow through the motor winding, and U The phase becomes 0, the V-phase and W-phase currents have the same magnitude and opposite phases, and a single-phase AC current flows, so that the motor can be kept stopped without rotating. And
When the rotation of the motor is stopped, a d-axis current component flowing through the motor is detected, and a measured value of the motor constant can be obtained based on the detected value. In this case, the detected value of the q-axis current component flowing through the motor is analyzed in accordance with Fourier expansion based on the AC signal, and a Fourier coefficient is obtained for each fundamental component of the two frequency components. By obtaining the motor constant from the relationship between the Fourier coefficient and the current component value corresponding to the Fourier coefficient obtained from the frequency characteristic of the output current / input voltage in the motor model, the factor of accuracy deterioration is obtained under the same measurement condition. It is possible to accurately obtain all necessary motor constants by using a measurement signal of an arbitrary frequency that is less affected by the pulse resolution of the inverter and the increment error.
【0024】[0024]
【実施例】以下、本発明の一実施例を図面に基づいて説
明する。An embodiment of the present invention will be described below with reference to the drawings.
【0025】図1はPWMインバータにより交流電動機
を駆動するシステムに本発明の電動機定数測定方法を適
用したときの一実施例を示す回路構成図である。図1に
おいて、測定対象となる交流電動機1にはPWMインバ
ータ2が接続されている。PWMインバータ2はトラン
ジスタなどのスイッチング素子を備えていると共に、三
相電圧指令信号V1u* 、V1v* 、V1w* と搬送波とを比
較して三相PWM信号を生成するPWM信号生成手段を
備えており、PWM信号に従って可変周波数の交流電圧
を交流電動機1に供給するようになっている。三相電圧
指令信号V1u*〜V1w* は座標変換器3で生成されるよ
うになっている。この座標変換器3は、次の(1)式に
従って、d軸電圧指令としての一次電圧指令V1d* とq
軸電圧指令としての一次電圧指令V1q* 及び一次角周波
数指令ω1*から三相電圧指令信号V1u* 、V1v* 、V1w
* を演算するように構成されている。FIG. 1 is a circuit diagram showing an embodiment when the motor constant measuring method of the present invention is applied to a system for driving an AC motor by a PWM inverter. In FIG. 1, a PWM inverter 2 is connected to an AC motor 1 to be measured. The PWM inverter 2 includes a switching element such as a transistor, and further includes a PWM signal generating unit that generates a three-phase PWM signal by comparing the three-phase voltage command signals V1u *, V1v *, V1w * with a carrier wave. , And a PWM signal to supply an AC voltage having a variable frequency to the AC motor 1. The three-phase voltage command signals V1u * to V1w * are generated by the coordinate converter 3. The coordinate converter 3 calculates a primary voltage command V1d * as a d-axis voltage command and q
Three-phase voltage command signals V1u *, V1v *, V1w from primary voltage command V1q * and primary angular frequency command ω1 * as shaft voltage commands.
* Is configured to calculate
【0026】[0026]
【数1】 (Equation 1)
【0027】一方、PWMインバータ2と交流電動機1
とを結ぶ線路中にはU相の電流を検出する電流検出器4
aとW相の電流を検出する電流検出器4bが設けられて
おり、各電流検出器4a,4bの検出電流が座標変換器
5に供給されている。On the other hand, the PWM inverter 2 and the AC motor 1
A current detector 4 for detecting a U-phase current
A current detector 4b for detecting a and W-phase currents is provided, and currents detected by the current detectors 4a and 4b are supplied to the coordinate converter 5.
【0028】座標変換器5は、次の(2)式に従って、
電流検出器4a,4bの検出電流と一次角周波数指令ω
1*からd,q軸で表される二軸のd軸電流成分I1d、q
軸電流成分I1qを生成する電流成分生成手段として構成
されており、各電流成分に関する信号がオートチューニ
ング機能を備えたベクトル制御装置6に供給されてい
る。The coordinate converter 5 calculates the following equation (2).
Current detected by current detectors 4a and 4b and primary angular frequency command ω
The biaxial d-axis current components I1d, q represented by d and q axes from 1 *
It is configured as current component generation means for generating the axial current component I1q, and a signal related to each current component is supplied to a vector control device 6 having an auto tuning function.
【0029】[0029]
【数2】 (Equation 2)
【0030】ベクトル制御装置6は電動機定数演算器
7、制御定数演算器8、ベクトル制御器9から構成され
ている。The vector control device 6 comprises a motor constant calculator 7, a control constant calculator 8, and a vector controller 9.
【0031】電動機定数演算器7は、座標変換器5から
得られた電流成分I1dに基づいて電動機の定数を算出す
る電動機定数算出手段を構成すると共に、一次角周波数
指令ω1*とq軸電圧指令V1q* を0に設定すると共に、
d軸電圧指令V1d* として交流信号を発生する測定信号
発生手段として構成されている。The motor constant calculator 7 constitutes motor constant calculation means for calculating a motor constant based on the current component I1d obtained from the coordinate converter 5, and includes a primary angular frequency command ω1 * and a q-axis voltage command. Set V1q * to 0 and
It is configured as a measurement signal generating means for generating an AC signal as the d-axis voltage command V1d *.
【0032】制御定数演算器8は、電動機定数演算器7
で演算された電動機定数に基づいてベクトル制御器9の
制御定数を演算するように構成されている。The control constant calculator 8 comprises a motor constant calculator 7
It is configured to calculate the control constant of the vector controller 9 based on the motor constant calculated in.
【0033】ベクトル制御器9は、制御定数演算器8で
演算された制御定数に従って一次電圧指令V1d* 、V1q
* 、一次角周波数指令ω1*などの信号を制御するように
構成されている。The vector controller 9 controls the primary voltage commands V1d * and V1q in accordance with the control constant calculated by the control constant calculator 8.
*, And is configured to control signals such as the primary angular frequency command ω1 *.
【0034】本実施例においては、測定時にベクトル制
御器9を切り離し、電動機定数演算器7から測定条件と
して一次角周波数指令ω1*を0、q軸電圧指令V1q* を
0とし、d軸電圧指令値として交流信号(V1d*=Vdsin
ωt ) を座標変換器3に入力する。この場合、前記測
定条件に従った信号を座標変換器3に入力すると、座標
変換器3からの出力値は(1)式に基づいて次の(3)
式が得られる。In the present embodiment, the vector controller 9 is disconnected at the time of measurement, the primary angular frequency command ω1 * is set to 0, the q-axis voltage command V1q * is set to 0, and the d-axis voltage command AC signal (V1d * = Vdsin
ωt) is input to the coordinate converter 3. In this case, when a signal according to the measurement condition is input to the coordinate converter 3, the output value from the coordinate converter 3 is calculated based on the equation (1).
An expression is obtained.
【0035】[0035]
【数3】 (Equation 3)
【0036】(3)式より、V相とW相の電圧が同相で
あることが理解される。V相とW相の電圧が同相になっ
たことによって、V相とW相の電流も同相となる。From equation (3), it is understood that the voltages of the V phase and the W phase are in phase. Since the V-phase and W-phase voltages are in phase, the V-phase and W-phase currents are also in phase.
【0037】上記の関係から、ω1*が0、V1q* が0の
ときには、交流電動機1の巻線に三相交流電流が流れ
ず、V相とW相の電流が同相の単相交流電流が流れるこ
とになる。このため、d軸に大きな測定信号を加えても
交流電動機1にトルクは発生せず、交流電動機1の回転
が停止された状態に維持されることとなる。また、上記
測定条件を適用すると、電動機速度ωreは0、すべり角
周波数ωs が0のため、例えば交流電動機1に誘導電動
機を使用した場合、誘導電動機のモデルにおいて、ωr
e、ωs に関係するブロックが省略され、誘導電動機モ
デルが図2のように簡単なモデルで表せる。From the above relationship, when ω1 * is 0 and V1q * is 0, no three-phase AC current flows through the winding of the AC motor 1 and a single-phase AC current in which the V-phase and W-phase currents are the same is obtained. Will flow. For this reason, even if a large measurement signal is applied to the d-axis, no torque is generated in the AC motor 1 and the rotation of the AC motor 1 is maintained in a stopped state. When the above measurement conditions are applied, since the motor speed ωre is 0 and the slip angular frequency ωs is 0, for example, when an induction motor is used for the AC motor 1, in the model of the induction motor, ωr
Blocks related to e and ωs are omitted, and the induction motor model can be represented by a simple model as shown in FIG.
【0038】次に、電動機定数rσ、Lσ、r2’、T2
の測定方法について説明する。Next, the motor constants rσ, Lσ, r2 ′, T2
The method of measuring is described.
【0039】先ず、測定信号としてV1d*=Vdsinωtを
座標変換器3に入力し、これに従った電圧を交流電動機
1に印加し、このとき交流電動機1に流れる電流を各電
流検出器4a、4bで検出し、この検出電流に従ってd
軸電流成分I1dを生成する。そして、このd軸電流成分
I1dを前記交流信号V1d*=Vdsinωtを基準としてフー
リエ展開を行う。その基本波成分を示すと次の(4)式
となる。First, V1d * = Vdsinωt is input to the coordinate converter 3 as a measurement signal, and a voltage according to the input is applied to the AC motor 1. At this time, the current flowing through the AC motor 1 is detected by each of the current detectors 4a, 4b. And according to this detection current, d
An axial current component I1d is generated. Then, Fourier expansion is performed on the d-axis current component I1d with reference to the AC signal V1d * = Vdsinωt. The following equation (4) shows the fundamental wave component.
【0040】[0040]
【数4】 (Equation 4)
【0041】ここで、周期Tは2π/ωである。なお、
一周期の積分のみでなく任意の周期でフーリエ係数を演
算することも可能である。Here, the period T is 2π / ω. In addition,
It is also possible to calculate the Fourier coefficient not only in one cycle of integration but also in any cycle.
【0042】さて、図2よりV1d*からI1dが得られる
までの伝達関数は次の(5)式で表される。Now, from FIG. 2, the transfer function until I1d is obtained from V1d * is expressed by the following equation (5).
【0043】[0043]
【数5】 (Equation 5)
【0044】(5)式の伝達関数に交流信号Vdsinωt
を加えた場合、出力される電流I1dは次の(6)式で表
される。The AC signal Vdsinωt is added to the transfer function of equation (5).
Is added, the output current I1d is expressed by the following equation (6).
【0045】[0045]
【数6】 (Equation 6)
【0046】(4)式におけるsinωtの係数と(6)
式のsinωtの係数が一致し、(4)式におけるcosωt
の係数と(6)式のcosωtの係数が一致するべきであ
るから、この条件を基に連立方程式をたてると、次の
(7)式で表される。The coefficient of sinωt in equation (4) and (6)
The coefficient of sinωt in the equation is the same, and cosωt in equation (4)
Should be equal to the coefficient of cosωt in the equation (6). Therefore, if simultaneous equations are made based on this condition, it is expressed by the following equation (7).
【0047】[0047]
【数7】 (Equation 7)
【0048】(7)式において、未知変数四つに対し、
方程式が二つなので、このままでは解くことはできな
い。そこで、二つの異なる周波数(ωα、ωβ)を用い
て二回の測定を行うことにより、次の(8)式で表され
る四元連立方程式を得る。In equation (7), for four unknown variables,
Since there are two equations, they cannot be solved as they are. Then, by performing two measurements using two different frequencies (ωα, ωβ), a quaternary simultaneous equation represented by the following equation (8) is obtained.
【0049】[0049]
【数8】 (Equation 8)
【0050】(8)式の連立方程式を解くことにより、
電動機定数rσ、Lσ、r2’、T2が求められる。By solving the simultaneous equations of equation (8),
The motor constants rσ, Lσ, r2 ′, and T2 are obtained.
【0051】ここで、(8)式を見ると、非常に複雑な
式であり、直接(8)式の連立方程式を解くことは困難
である。そこで、媒介変数を利用することにより、
(8)式を簡単に解く。Here, looking at equation (8), it is a very complicated equation, and it is difficult to directly solve the simultaneous equations of equation (8). So, by using parametric variables,
Equation (8) is easily solved.
【0052】ここで、媒介変数を次の(9)、(10)
式とおく。Here, the parameters are represented by the following (9) and (10).
Expression.
【0053】[0053]
【数9】 (Equation 9)
【0054】[0054]
【数10】 (Equation 10)
【0055】(9)、(10)式より、rσ、Lσは次
の(11)、(12)式で表される。From equations (9) and (10), rσ and Lσ are expressed by the following equations (11) and (12).
【0056】[0056]
【数11】 [Equation 11]
【0057】[0057]
【数12】 (Equation 12)
【0058】(11)、(12)式で表されるrσ、L
σを(6)式に代入すると、次の(13)式となる。Rσ, L expressed by equations (11) and (12)
Substituting σ into equation (6) gives the following equation (13).
【0059】[0059]
【数13】 (Equation 13)
【0060】(4)式におけるsinωtの係数と(1
3)式のsinωtの係数が一致し、(4)式におけるcos
ωtの係数と(13)式のcosωtの係数が一致するべ
きであるから、この条件を基に連立方程式をたてると、
次の(14)式で表される。The coefficient of sinωt in equation (4) and (1
The coefficient of sinωt in equation (3) matches, and cos in equation (4)
Since the coefficient of ωt and the coefficient of cos ωt in equation (13) should match, if a simultaneous equation is made based on this condition,
It is expressed by the following equation (14).
【0061】[0061]
【数14】 [Equation 14]
【0062】(14)式の連立方程式を解くことによ
り、媒介変数が次の(15)、(16)式で表される。By solving the simultaneous equations of the equation (14), the parameters are expressed by the following equations (15) and (16).
【0063】[0063]
【数15】 (Equation 15)
【0064】[0064]
【数16】 (Equation 16)
【0065】上記のことを(8)式の四元連立方程式に
適用する。媒介変数を次の(17)から(20)式とお
く。The above is applied to the quaternary simultaneous equations of the equation (8). The parameters are expressed by the following equations (17) to (20).
【0066】[0066]
【数17】 [Equation 17]
【0067】[0067]
【数18】 (Equation 18)
【0068】[0068]
【数19】 [Equation 19]
【0069】[0069]
【数20】 (Equation 20)
【0070】すると、(8)式の四元連立方程式は次の
(21)式のように簡単に表される。Then, the quaternary simultaneous equation of the equation (8) can be simply expressed as the following equation (21).
【0071】[0071]
【数21】 (Equation 21)
【0072】(21)式より、(15)、(16)式を
用いて、各媒介変数の値が次の(22)式から(25)
式で表される。From the equation (21), using the equations (15) and (16), the value of each parameter is calculated from the following equation (22) to the equation (25).
It is expressed by an equation.
【0073】[0073]
【数22】 (Equation 22)
【0074】[0074]
【数23】 (Equation 23)
【0075】[0075]
【数24】 (Equation 24)
【0076】[0076]
【数25】 (Equation 25)
【0077】ここで、(17)から(20)式に基づい
て、求められた各媒介変数の値の差分をとることによ
り、次の(26)、(27)式で示される値が求まる。Here, by taking the difference between the obtained parameter values based on the equations (17) to (20), the values shown in the following equations (26) and (27) are obtained.
【0078】[0078]
【数26】 (Equation 26)
【0079】[0079]
【数27】 [Equation 27]
【0080】(26)、(27)式をみると、T2、r
2’のみを含むので、(26)、(27)式から成り立
つ連立方程式を解くことにより、T2、r2’が次の(2
8)、(29)式で表される。Looking at equations (26) and (27), T2, r
Since only 2 ′ is included, T2 and r2 ′ are calculated by solving the simultaneous equations consisting of the equations (26) and (27).
8) and (29).
【0081】[0081]
【数28】 [Equation 28]
【0082】[0082]
【数29】 (Equation 29)
【0083】そして、得られたT2、r2’を用いて、r
σ、Lσを求めると次の(30)、(31)式で表され
る。Then, using the obtained T2 and r2 ', r
When σ and Lσ are obtained, they are expressed by the following equations (30) and (31).
【0084】[0084]
【数30】 [Equation 30]
【0085】[0085]
【数31】 (Equation 31)
【0086】図3に具体的な測定概念図を示す。図3に
示すように、先ず設定値であるVd、ωα、ωβ と電流
検出器4a、4bの検出値に従って求められるI1dを用
いて、各周波数に対する媒介変数値を(22)から(2
5)式に従って測定する。そして、得られた各媒介変数
値の差分をとり、これらの値からT2、r2’を(2
8)、(29)式に従って測定する。そして、得られた
T2、r2’の測定値を用いて(30)、(31)式に従
って、(22)から(25)式で得られる測定値を補正
することによりrσ、Lσを測定する。FIG. 3 shows a specific conceptual diagram of the measurement. As shown in FIG. 3, first, using the set values Vd, ωα, ωβ and I1d obtained according to the detection values of the current detectors 4a and 4b, the parameter values for each frequency are calculated from (22) to (2).
5) Measure according to the formula. Then, a difference between the obtained parameter values is obtained, and T2 and r2 'are calculated from these values as (2
8), Measured according to equation (29). Then, using the obtained measured values of T2 and r2 'and correcting the measured values obtained by equations (22) to (25) according to equations (30) and (31), rσ and Lσ are measured.
【0087】以上が測定原理である。従って、同じ測定
状態の下で、精度劣化の要因であるインバータのパルス
分解能やインクルメント誤差などの影響が小さい任意の
二つの周波数の測定信号を用いて測定を行い、連立方程
式を解くことにより、必要な電動機定数rσ、Lσ、r
2’、 T2 を高精度に測定することができる。The above is the measurement principle. Therefore, under the same measurement conditions, measurement is performed using measurement signals of any two frequencies that are less affected by the pulse resolution of the inverter and the increment error, which are factors of accuracy deterioration, and by solving simultaneous equations, Required motor constants rσ, Lσ, r
2 ', T2 can be measured with high accuracy.
【0088】なお、前記実施例においては、二つの異な
る周波数を用いて二回測定を行っているが、二つの異な
る周波数を重畳させた交流信号(V1d*=Vdsinωαt+
Vdsinωβt )を用いて測定を行うこともできる。こ
の場合、d軸電流成分I1dを前記交流信号V1d*=Vdsin
ωαt+Vdsinωβt を基準としてフーリエ展開を行
い、その各周波数成分に着目して示すと次の(32)式
となる。In the above embodiment, the measurement is performed twice using two different frequencies. However, an AC signal (V1d * = Vdsinωαt +
Vdsinωβt). In this case, the d-axis current component I1d is converted to the AC signal V1d * = Vdsin
The following equation (32) is obtained by performing Fourier expansion on the basis of ωαt + Vdsinωβt and focusing on each frequency component.
【0089】[0089]
【数32】 (Equation 32)
【0090】図2に示すブロック線図から理解されるよ
うに、測定時の電動機モデルは線形であるため、重ね合
わせの定理により、各周波数に対する出力の応答は別々
に考えることができる。従って、(5)式の伝達関数に
交流信号Vdsinωαtを加えた場合、出力される電流I
1dは次の(33)式で表される。As understood from the block diagram shown in FIG. 2, since the motor model at the time of measurement is linear, the output response to each frequency can be considered separately by the superposition theorem. Therefore, when the AC signal Vdsinωαt is added to the transfer function of the equation (5), the output current I
1d is expressed by the following equation (33).
【0091】[0091]
【数33】 [Equation 33]
【0092】また、(5)式の伝達関数に交流信号Vds
inωβtを加えた場合、出力される電流I1dは次の(3
4)式で表される。Further, the transfer function of the equation (5) has an AC signal Vds
When inωβt is added, the output current I1d becomes the following (3)
4) It is expressed by the equation.
【0093】[0093]
【数34】 (Equation 34)
【0094】(32)式におけるsinωαtの係数と
(33)式のsinωαtの係数が一致し、(32)式に
おけるcosωαtの係数と(33)式のcosωαtの係数
が一致し、また、(32)式におけるsinωβtの係数
と(34)式のsinωβtの係数が一致し、(32)式
におけるcosωβtの係数と(34)式のcosωβtの係
数が一致するべきであるから、この条件を基に連立方程
式をたてると、(8)式の連立方程式が得られ、以下同
様の方法で、必要な電動機定数rσ、Lσ、r2’、T2
を高精度に測定することができる。The coefficient of sinωαt in equation (32) matches the coefficient of sinωαt in equation (33), the coefficient of cosωαt in equation (32) matches the coefficient of cosωαt in equation (33), and (32) The coefficient of sinωβt in the equation should match the coefficient of sinωβt in equation (34), and the coefficient of cosωβt in equation (32) should match the coefficient of cosωβt in equation (34). Is obtained, a simultaneous equation of equation (8) is obtained, and the necessary motor constants rσ, Lσ, r2 ′, T2
Can be measured with high accuracy.
【0095】なお、前記実施例においては、d軸に測定
信号を与えるものについて述べたが、本発明における測
定条件を適用したとき、d軸とq軸はまったく同一モデ
ルであるため、q軸に測定信号を加えても各種電動機定
数を測定することができる。この場合、一次角周波数指
令ω1*とd軸電圧指令V1d* の各指令値をそれぞれ0に
すると共に、q軸電圧指令値として交流信号を与える。In the above embodiment, the case where the measurement signal is applied to the d-axis has been described. However, when the measurement conditions in the present invention are applied, since the d-axis and the q-axis are exactly the same model, the q-axis is used. Even if a measurement signal is added, various motor constants can be measured. In this case, the command values of the primary angular frequency command ω1 * and the d-axis voltage command V1d * are each set to 0, and an AC signal is given as the q-axis voltage command value.
【0096】また、d軸とq軸に同位相の測定信号を加
えても、合成ベクトル方向を新たな軸とし、例えばこの
軸を仮にd’軸とし、これに直行する軸をq’軸とする
と、d’,q’軸においては前記実施例と同様な動作が
行われるため、等価的に扱うことができる。Further, even if the measurement signals having the same phase are added to the d-axis and the q-axis, the combined vector direction is set as a new axis, for example, this axis is temporarily set as the d 'axis, and the axis orthogonal to this is set as the q' axis. Then, operations similar to those in the above-described embodiment are performed on the d ′ and q ′ axes, and can be equivalently handled.
【0097】また上述した測定方法によって得られた各
種電動機定数は、記憶要素に記憶され、図4に示すよう
なベクトル制御装置の制御演算定数の設定に使用され
る。The various motor constants obtained by the above-described measuring method are stored in a storage element and used for setting control operation constants of the vector control device as shown in FIG.
【0098】図4に示すベクトル制御装置においては、
図1に示すPWMインバータ2、座標変換器3,5、電
流検出器4a,4bの他に速度検出器10、速度指令器
11、速度制御器12、励磁電流指令器13、電流制御
器14,15、すべり角周波数制御器16、非干渉制御
器17などを備えて構成されている。In the vector control device shown in FIG.
In addition to the PWM inverter 2, the coordinate converters 3, 5, and the current detectors 4a, 4b shown in FIG. 1, a speed detector 10, a speed commander 11, a speed controller 12, an exciting current commander 13, a current controller 14, 15, a slip angular frequency controller 16, a non-interference controller 17, and the like.
【0099】速度制御器12は、速度指令器11からの
速度指令と速度検出器10からの検出速度との差に応じ
たq軸電流指令I1q*を生成するようになっている。The speed controller 12 generates a q-axis current command I1q * according to the difference between the speed command from the speed commander 11 and the speed detected by the speed detector 10.
【0100】電流制御器15は、速度制御器12からの
q軸電流指令値I1q*とq軸電流成分I1qとの偏差に応
じたq軸電圧指令V1q*を出力するようになっている。The current controller 15 outputs a q-axis voltage command V1q * according to the deviation between the q-axis current command value I1q * from the speed controller 12 and the q-axis current component I1q.
【0101】電流制御器14は、励磁電流指令器13か
らの励磁電流指令I1d*とd軸電流成分I1dとの偏差に
応じたd軸電圧指令V1d*を生成するようになってい
る。The current controller 14 generates a d-axis voltage command V1d * according to a deviation between the exciting current command I1d * from the exciting current commander 13 and the d-axis current component I1d.
【0102】すべり角周波数制御器16は速度制御器1
2からのq軸電流指令値I1q*を励磁電流指令I1d*で割
算してすべり角周波数指令ωs*を生成するようになって
いる。そして、このすべり角周波数指令ωs*は、速度検
出器10で検出された回転速度ωrmと加算され、一次角
周波数指令ω1*として出力されるようになっている。
また非干渉制御器17は、電流成分I1d*、I1q*、一次
角周波数指令ω1*を用いて干渉項分を補償するように構
成されている。The slip angular frequency controller 16 is the speed controller 1
2 is divided by the exciting current command I1d * to generate a slip angular frequency command ωs *. Then, the slip angular frequency command ωs * is added to the rotational speed ωrm detected by the speed detector 10, and is output as a primary angular frequency command ω1 *.
The non-interference controller 17 is configured to compensate for the interference term using the current components I1d * and I1q * and the primary angular frequency command ω1 *.
【0103】上記構成におけるベクトル制御装置におい
て、例えばすべり角周波数制御器16で、すべり角周波
数指令ωs*を求めるに際しては次の(35)式が用いら
れる。In the vector control device having the above configuration, for example, when the slip angle frequency controller 16 determines the slip angle frequency command ωs *, the following equation (35) is used.
【0104】[0104]
【数35】 (Equation 35)
【0105】(35)式を用いるに際しては、前述した
方法で測定された電動機定数としての二次時定数T2 が
用いられる。このような演算定数の設定を行うときは、
前述した方法で測定された電動機定数に基づいて制御定
数演算器8で制御定数を演算し、ベクトル制御器9の演
算プログラムの定数設定を行うことにより可能である。
また、電流制御器14,15、非干渉制御器17におい
ても同様に、測定された電動機定数に基づいて演算定数
を設定することができる。When using the equation (35), the secondary time constant T2 as the motor constant measured by the method described above is used. When setting such operation constants,
It is possible to calculate the control constants in the control constant calculator 8 based on the motor constants measured by the method described above, and to set the constants in the calculation program of the vector controller 9.
Similarly, the current controllers 14, 15 and the non-interference controller 17 can also set operation constants based on the measured motor constants.
【0106】なお、前記実施例においては、電動機定数
演算器7と制御定数演算器8を内部に組み込んだベクト
ル制御装置6を使用しているが、図5に示すようにベク
トル制御装置6とは別個に、電動機定数演算器7と制御
定数演算器8で構成されるオートチューニング装置18
として機能させることができる。この場合、電動機定数
演算器7より所定の測定条件となるようベクトル制御器
9に設定信号が送られ、ベクトル制御器9は、設定信号
に従って電圧指令値を出力する。そしてその時の、d軸
電流検出値がベクトル制御器9から電動機定数演算器7
に送られ、このd軸電流検出値より電動機定数が電動機
定数演算器7において前述した方法で測定される。そし
て、測定された電動機定数に基づいて制御定数演算器8
で制御定数を演算し、その制御定数値がベクトル制御器
9へ送られ、ベクトル制御器の演算プログラムの定数設
定が行われる。In the above-described embodiment, the vector control device 6 incorporating the motor constant calculator 7 and the control constant calculator 8 is used. However, as shown in FIG. Separately, an auto-tuning device 18 composed of a motor constant calculator 7 and a control constant calculator 8
Can function as In this case, a setting signal is sent from the motor constant calculator 7 to the vector controller 9 so as to satisfy predetermined measurement conditions, and the vector controller 9 outputs a voltage command value according to the setting signal. The detected value of the d-axis current at that time is transmitted from the vector controller 9 to the motor constant calculator 7.
The motor constant is measured by the motor constant calculator 7 from the detected d-axis current value by the method described above. Then, based on the measured motor constant, the control constant calculator 8
, And the control constant value is sent to the vector controller 9, and the constant setting of the operation program of the vector controller is performed.
【0107】[0107]
【発明の効果】以上説明したように、本発明によれば、
交流電動機に測定信号を印加するに際して、交流電動機
に単相交流電流が流れる測定信号を用いているため、電
動機の回転が停止された状態で電動機の定数を測定する
ことができ、また精度劣化の要因であるインバータのパ
ルス分解能やインクルメント誤差などの影響が小さい任
意の二つの周波数を用いて測定を行い、その際のd軸の
電流成分I1dを、交流信号を基準とするフーリエ展開に
従って分析し、この基本波成分のフーリエ係数と電動機
モデルの出力電流/入力電圧の周波数特性から得られる
前記フーリエ係数と対応する電流成分値との関係から、
必要な全ての電動機定数を高精度に測定することができ
る。As described above, according to the present invention,
When applying the measurement signal to the AC motor, a measurement signal in which a single-phase AC current flows through the AC motor is used, so that the constant of the motor can be measured while the rotation of the motor is stopped. The measurement is performed using any two frequencies that have little influence on the factors such as the pulse resolution of the inverter and the increment error, and the current component I1d on the d-axis at that time is analyzed according to the Fourier expansion based on the AC signal. From the relationship between the Fourier coefficient of the fundamental wave component and the Fourier coefficient obtained from the frequency characteristic of the output current / input voltage of the motor model and the corresponding current component value,
All necessary motor constants can be measured with high accuracy.
【図1】本発明の一実施例を示す電動機定数測定装置の
回路構成図FIG. 1 is a circuit configuration diagram of a motor constant measuring apparatus showing one embodiment of the present invention.
【図2】測定時の電動機のブロック線図モデルFIG. 2 is a block diagram model of a motor during measurement.
【図3】本発明における電動機定数測定概念図FIG. 3 is a conceptual diagram of a motor constant measurement according to the present invention.
【図4】誘導電動機ベクトル制御装置の回路構成図FIG. 4 is a circuit configuration diagram of an induction motor vector control device.
【図5】本発明の別の実施例を示す電動機定数測定装置
の回路構成図FIG. 5 is a circuit configuration diagram of a motor constant measuring apparatus showing another embodiment of the present invention.
1 交流電動機 2 PWMインバータ 3 座標変換器 4a 電流検出器 4b 電流検出器 5 座標変換器 7 電動機定数演算器 8 制御定数演算器 9 ベクトル制御器 DESCRIPTION OF SYMBOLS 1 AC motor 2 PWM inverter 3 Coordinate converter 4a Current detector 4b Current detector 5 Coordinate converter 7 Motor constant calculator 8 Control constant calculator 9 Vector controller
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7,DB名) G01R 31/34 H02P 21/00 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 7 , DB name) G01R 31/34 H02P 21/00
Claims (7)
角周波数指令に従って三相電圧指令信号を生成し、これ
に比例して電力変換器の出力電圧を制御して電動機に印
加するとともに、出力電流を検出し、この検出電流と一
次角周波数指令に従ってd軸電流成分とq軸電流成分を
検出するに際して、 一次角周波数指令とq軸電圧指令の各指令値をそれぞれ
零とする条件下で、d軸電圧指令値として交流信号を与
え、これに基づいて生成された三相電圧指令信号に従う
変換器出力電圧を電動機に印加し、このとき電動機に流
れるd軸電流成分を検出し、この検出値を前記交流信号
を基準とするフーリエ展開に従って分析し、この基本波
成分のフーリエ係数を得るのに前記交流信号に関して二
つの周波数を用いて行い、そのフーリエ係数と電動機モ
デルにおける出力電流/入力電圧の周波数特性から得ら
れる前記フーリエ係数と対応する電流成分値との関係か
ら電動機定数を求めることを特徴とする電動機定数測定
方法。1. A three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and an output voltage of a power converter is controlled in proportion to the signal to apply to a motor. When detecting the output current and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command, under the condition that each of the command values of the primary angular frequency command and the q-axis voltage command is zero. , An AC signal is given as a d-axis voltage command value, a converter output voltage according to a three-phase voltage command signal generated based on the d-axis voltage command value is applied to the motor, and a d-axis current component flowing through the motor at this time is detected. The value is analyzed in accordance with Fourier expansion based on the AC signal, and a Fourier coefficient of the fundamental wave component is obtained using two frequencies with respect to the AC signal. Motor constant measurement method characterized by determining the motor parameters from the relation between the current component value corresponding to the Fourier coefficient obtained from the frequency characteristics of the output current / input voltage at Dell.
角周波数指令に従って三相電圧指令信号を生成し、これ
に比例して電力変換器の出力電圧を制御して電動機に印
加するとともに、出力電流を検出し、この検出電流と一
次角周波数指令に従ってd軸電流成分とq軸電流成分を
検出するに際して、 一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とする条件下で、q軸電圧指令値として交流信号を与
え、これに基づいて生成された三相電圧指令信号に従う
変換器出力電圧を電動機に印加し、このとき電動機に流
れるq軸電流成分を検出し、この検出値を前記交流信号
を基準とするフーリエ展開に従って分析し、この基本波
成分のフーリエ係数を得るのに前記交流信号に関して二
つの周波数を用いて行い、そのフーリエ係数と電動機モ
デルにおける出力電流/入力電圧の周波数特性から得ら
れる前記フーリエ係数と対応する電流成分値との関係か
ら電動機定数を求めることを特徴とする電動機定数測定
方法。2. A three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion to the three-phase voltage command signal and applied to the motor. When detecting the output current and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command, under the condition that each of the primary angular frequency command and the d-axis voltage command is zero. , An AC signal is given as a q-axis voltage command value, a converter output voltage according to a three-phase voltage command signal generated based on the AC signal is applied to the motor, and a q-axis current component flowing through the motor at this time is detected. The value is analyzed in accordance with Fourier expansion based on the AC signal, and a Fourier coefficient of the fundamental wave component is obtained using two frequencies with respect to the AC signal. Motor constant measurement method characterized by determining the motor parameters from the relation between the current component value corresponding to the Fourier coefficient obtained from the frequency characteristics of the output current / input voltage at Dell.
角周波数指令に従って三相電圧指令信号を生成し、これ
に比例して電力変換器の出力電圧を制御して電動機に印
加するとともに、出力電流を検出し、この検出電流と一
次角周波数指令に従ってd軸電流成分とq軸電流成分を
検出するに際して、 一次角周波数指令とq軸電圧指令の各指令値をそれぞれ
零とする条件下で、d軸電圧指令値として二つの周波数
成分を含む交流信号を与え、これに基づいて生成された
三相電圧指令信号に従う変換器出力電圧を電動機に印加
し、このとき電動機に流れるd軸電流成分を検出し、こ
の検出値を前記交流信号を基準とするフーリエ展開に従
って分析し、前記二つの周波数成分の各基本波成分に対
するフーリエ係数を得、それらのフーリエ係数と電動機
モデルにおける出力電流/入力電圧の周波数特性から得
られる前記フーリエ係数と対応する電流成分値との関係
から電動機定数を求めることを特徴とする電動機定数測
定方法。3. A three-phase voltage command signal is generated according to a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion to the three-phase voltage command signal and applied to the motor. When detecting the output current and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command, under the condition that each of the command values of the primary angular frequency command and the q-axis voltage command is zero. An AC signal including two frequency components is given as a d-axis voltage command value, and a converter output voltage according to a three-phase voltage command signal generated based on the d-axis voltage command value is applied to the motor, and a d-axis current component flowing through the motor at this time , And the detected value is analyzed in accordance with Fourier expansion based on the AC signal to obtain Fourier coefficients for each of the fundamental components of the two frequency components. Motor constant measurement method of the relationship between the current component value and the corresponding Fourier coefficient obtained from the frequency characteristics of the output current / input voltage in the model and obtains the motor parameters.
角周波数指令に従って三相電圧指令信号を生成し、これ
に比例して電力変換器の出力電圧を制御して電動機に印
加するとともに、出力電流を検出し、この検出電流と一
次角周波数指令に従ってd軸電流成分とq軸電流成分を
検出するに際して、 一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零とする条件下で、q軸電圧指令値として二つの周波数
成分を含む交流信号を与え、これに基づいて生成された
三相電圧指令信号に従う変換器出力電圧を電動機に印加
し、このとき電動機に流れるq軸電流成分を検出し、こ
の検出値を前記交流信号を基準とするフーリエ展開に従
って分析し、前記二つの周波数成分の各基本波成分に対
するフーリエ係数を得、それらフーリエ係数と電動機モ
デルにおける出力電流/入力電圧の周波数特性から得ら
れる前記フーリエ係数と対応する電流成分値との関係か
ら電動機定数を求めることを特徴とする電動機定数測定
方法。4. A three-phase voltage command signal is generated in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and the output voltage of the power converter is controlled in proportion to the three-phase voltage command signal and applied to the motor. When detecting the output current and detecting the d-axis current component and the q-axis current component according to the detected current and the primary angular frequency command, under the condition that each of the primary angular frequency command and the d-axis voltage command is zero. , An AC signal including two frequency components as a q-axis voltage command value, and applying a converter output voltage according to a three-phase voltage command signal generated based on the q-axis voltage command signal to the motor, and at this time, a q-axis current component flowing through the motor , And the detected value is analyzed in accordance with Fourier expansion based on the AC signal to obtain Fourier coefficients for each of the fundamental components of the two frequency components. Motor constant measurement method characterized by determining the motor parameters from the relation between the current component value corresponding to the Fourier coefficient obtained from the frequency characteristics of the output current / input voltage at Dell.
方法により求められた電動機定数に基づいて、q軸電流
指令とd軸電流指令並びにq軸電流成分とd軸電流成分
を基にd軸電圧指令とq軸電圧指令並びに一次角周波数
指令を生成するためのベクトル制御器の制御定数を設定
することを特徴とするベクトル制御器の制御定数設定方
法。5. A q-axis current command and a d-axis current command, and a q-axis current component and a d-axis current component, based on a motor constant obtained by the measurement method according to any one of claims 1 to 4. A method for setting a control constant of a vector controller, comprising: setting a control constant of a vector controller for generating a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command.
角周波数指令に従って三相電圧指令信号を生成する三相
電圧指令信号生成手段と、前記三相電圧指令に比例した
交流電圧を電動機に印加する電力変換器と、該電力変換
器の出力電流を検出する出力電流検出手段と、出力電流
検出手段の検出電流と一次角周波数指令に従ってd軸電
流成分とq軸電流成分を生成する電流成分生成手段と、
一次角周波数指令とq軸電圧指令の各指令値をそれぞれ
零に設定するとともにd軸電圧指令値として交流信号を
与える測定信号発生手段と、前記交流信号に従って変化
する三相交流電圧が電動機に印加された結果として、電
流成分生成手段で検出されたd軸電流成分に基づいて、
請求項1または3のいずれかの方法により電動機定数を
算出する電動機定数算出手段とを有することを特徴とす
る電動機定数測定装置。6. A three-phase voltage command signal generating means for generating a three-phase voltage command signal in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and supplies an AC voltage proportional to the three-phase voltage command to the electric motor. A power converter to be applied, output current detection means for detecting an output current of the power converter, and a current component for generating a d-axis current component and a q-axis current component in accordance with a detection current of the output current detection means and a primary angular frequency command. Generating means;
Measurement signal generating means for setting each command value of the primary angular frequency command and the q-axis voltage command to zero and providing an AC signal as a d-axis voltage command value, and applying a three-phase AC voltage varying according to the AC signal to the motor. As a result, based on the d-axis current component detected by the current component generation unit,
An electric motor constant measuring device, comprising: electric motor constant calculating means for calculating an electric motor constant by the method according to claim 1.
角周波数指令に従って三相電圧指令信号を生成する三相
電圧指令信号生成手段と、前記三相電圧指令に比例した
交流電圧を電動機に印加する電力変換器と、該電力変換
器の出力電流を検出する出力電流検出手段と、出力電流
検出手段の検出電流と一次角周波数指令に従ってd軸電
流成分とq軸電流成分を生成する電流成分生成手段と、
一次角周波数指令とd軸電圧指令の各指令値をそれぞれ
零に設定するとともにq軸電圧指令値として交流信号を
与える測定信号発生手段と、前記交流信号に従って変化
する三相交流電圧が電動機に印加された結果として、電
流成分生成手段で検出されたd軸電流成分に基づいて、
請求項2または4のいずれかの方法により電動機定数を
算出する電動機定数算出手段とを有することを特徴とす
る電動機定数測定装置。7. A three-phase voltage command signal generating means for generating a three-phase voltage command signal in accordance with a d-axis voltage command, a q-axis voltage command, and a primary angular frequency command, and supplies an AC voltage proportional to the three-phase voltage command to the electric motor. A power converter to be applied, output current detection means for detecting an output current of the power converter, and a current component for generating a d-axis current component and a q-axis current component in accordance with a detection current of the output current detection means and a primary angular frequency command. Generating means;
Measurement signal generating means for setting each command value of the primary angular frequency command and the d-axis voltage command to zero and providing an AC signal as a q-axis voltage command value, and applying a three-phase AC voltage varying according to the AC signal to the motor. As a result, based on the d-axis current component detected by the current component generation unit,
An electric motor constant measuring device, comprising: electric motor constant calculating means for calculating an electric motor constant by the method according to claim 2.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19723293A JP3099159B2 (en) | 1993-08-09 | 1993-08-09 | Method and apparatus for measuring motor constants |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP19723293A JP3099159B2 (en) | 1993-08-09 | 1993-08-09 | Method and apparatus for measuring motor constants |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0755899A JPH0755899A (en) | 1995-03-03 |
JP3099159B2 true JP3099159B2 (en) | 2000-10-16 |
Family
ID=16371047
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JP19723293A Expired - Lifetime JP3099159B2 (en) | 1993-08-09 | 1993-08-09 | Method and apparatus for measuring motor constants |
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JP (1) | JP3099159B2 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2759932B2 (en) * | 1993-09-29 | 1998-05-28 | 東洋電機製造株式会社 | Inverter device with constant measurement setting function |
JP4816838B2 (en) | 2000-07-13 | 2011-11-16 | 株式会社安川電機 | Vector control device for induction motor |
WO2004109310A1 (en) * | 2003-06-06 | 2004-12-16 | Mitsubishi Denki Kabushiki Kaisha | Device for determining constant of rotating machine |
CN100533947C (en) | 2004-07-21 | 2009-08-26 | 三菱电机株式会社 | Ac rotary machine constant measuring apparatus |
EP2626996B1 (en) * | 2010-10-08 | 2022-06-15 | Panasonic Holdings Corporation | Motor constant calculating method for pm motor, and motor constant calculating device |
TW201230657A (en) * | 2010-10-08 | 2012-07-16 | Panasonic Corp | Current control gain adjusting method for pm motor, current control method, and control device |
JP5854257B2 (en) * | 2011-05-31 | 2016-02-09 | 富士電機株式会社 | Induction motor control device |
JP5786203B2 (en) * | 2012-01-12 | 2015-09-30 | 株式会社日立製作所 | Power converter control device, motor characteristic measuring method, and program |
JP5510577B2 (en) * | 2013-03-11 | 2014-06-04 | 株式会社安川電機 | Vector control device for induction motor |
JP7163640B2 (en) * | 2018-07-05 | 2022-11-01 | 富士電機株式会社 | Synchronous motor controller |
-
1993
- 1993-08-09 JP JP19723293A patent/JP3099159B2/en not_active Expired - Lifetime
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JPH0755899A (en) | 1995-03-03 |
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