O t

United States Patent (19) 11 4,451,112

Hattori et al. 45) May 29, 1984
54 METHOD AND APPARATUS FOR 4,259,845 4/1981 Norbeck .............................. 3 18/806
CONTROLLING AC MOTOR 4,311,951 1/1982 Walker et al. ...................... 318/778
(75) Inventors: Motonobu Hattori; Yasuharu Primary Examiner-David Smith, Jr.
Tamuro, both of Narashino; Akira Attorney, Agent, or Firm-Antonelli, Terry & Wands
shibashi; Kenji Nandoh, both of
Funabashi, E. Japan 57 ABSTRACT
73) Assignee: Hitachi, Ltd., Tokyo, Japan A method and apparatus for controlling an induction
motor, in which an AC power source is connected to
21 Appl. No.: 342,649 the induction motor through a switch and a frequency
22 Filed: Jan. 25, 1982 converter, and the motor speed is controlled by control
O e ling the output frequency and output voltage of the
30) Foreign Application Priority Data frequency converter. In the starting operation, the in
Jan. 30, 1981 JP Japan .................................. 56-1681 duction motor in a free-running state is supplied with an
51) Int. Cl. .......................... Hoap 1/26. Ho2P1/28
HO2P 1 736
initial Yoltage in a given frequency which is expected to
make the absolute value of the motor current minimum
52 U.S. Cl. .................................... 318/778.318/798,
318/806
or near minimum, and then the supply voltage is in
creased gradually from the initial voltage with its fre
58 Field of Search ............... 318/778,798, 805,806, quency being retained at the given voltage. When the
318/807-811 output frequency of the frequency converter reaches a
s predetermined value, the output frequency and voltage
56 References Cited thereof are increased gradually with the ratio therebe
U.S. PATENT DOCUMENTS tween being maintained at a given value.
3,819,992 6/1974 Opaz et al. .......................... 318/798
4,047,083 9/1977 Plunkett .............................. 318/807 12 Claims, 11 Drawing Figures

START

grass so
TO BE DRIVEN ?

READ TACHO
GENERATOR OUTPUT

GO TO STEP 53
IN FIG.3 SUPPLY INITIAL VOLTAGE
Vi (i = ). AND INITIAL
FREQ. fO
78

YES
DELAY BY At

STEADY OFERATION
U.S. Patent May 29, 1984 Sheet 1 of 7 4,451,112

F. G. 2
V

O fs f
OUTPUT FREQUENCY OF INVERTER
U.S. Patent May 29, 1984 Sheet 2 of 7 4,451,112

F. G. 3

as Co.
O BE pRIVEly
YES 5
READ TACHO
GENERATOR OUTPUT

53
SUPPLY INITIAL VOLTAGE
YE)F
AND ENTAL FREQ.
GO TO STEP 74
N FIG 4
<35). YES 6O DELAY BY At
STEADY OPERATION
SUPPLY
V+AV-Vi
fi+Af-fi

F.G. 6

h V (mOX)

OUTPUT FREQUENCY OF INVERTER

U.S. Patent May 29, 1984 Sheet 3 of 7 4,451,112

FG. 4
TO BE DRIVEN ?
YES
READ TACHO- 72
73 GENERATOR OUTPUT
MOTOR NO
SPEED
ZERO 2 COMPUTE INITA FREO. fo AND
YES COMMAND VOLTAGE VO
CORRESPONDING TO fo
GO TO STEP 53
IN FIG 3 SUPPLY INITIAL VOLTAGE
Vi (=) AND INTIAL
76
FREQ. fo
78
Sejd
YES DELAY BY At
8O
84
DELAY BY At SUPPLY
V+AV-V
SUPPLY 86
Vi + AV-V
f + Af - fi

g 88
YES 90
STEADY OPERATION

F. G.
G. 5 --TIME
(A) POWER VOLTAGE
fs t t2 ts ta.
(B) MOTOR SPEED
O
N u-ts -- - - -- ----------------

Vs
(C) NVERTER OUTPUT
VOLTAGE O ---.

(D) MOTOR CURRENT

O - - - -- -- - -
U.S. Patent May 29, 1984 Sheet 4 of 7 4,451,112

FG. 7 MOTOR IS
TO BE DRIVEN

SUPPLY INITIAL SEARCH FREQ. O2

fj(j=max) AND SEARCH VOLTAGE
thvi (j=max)
DELAY BY At O4.
O6
MEASURE MOTOR CORRENT IM
SUPPLY fj-Af= f(j-I)
h (Vi-AV)- V(i-1)
DELAY BY At
MEASURE MOTOR CORRENT IMC-1)
4.

YES 6
COMPUTE NITIAL FREQ. fo AND
COMMAND VOLTAGE VO
CORRESPONDING TO fo
SUPPLY INITIAL VOLAGE V(i) 8
AND INITIAL FREQ. fo

YES DELAY BY At
26
DELAY BY At SUPPLY
28 Wi-AV --Vi
SUPPLY V+AV --Vi
fi-Alf -f

35 3O
YES 32
STEADY OPERATION
U.S. Patent May 29, 1984 Sheet 5 of 7 4,451,112

(A) POWER VOLTAGE

(B) MOTOR SPEED

(c) INVERTE
VOLAGEOUTPUT N-1 Vs
O ---

(D) MOTOR CURRENT O

N -1 M

F. G. 9

OUTPUT FREQUENCY OF INVERTER

U.S. Patent May 29, 1984 Sheet 6 of 7 4,451,112

G. O.
8
O
F

GATE GATE
SIGNAL SIGNAL
AMP AMP.

PHASE
CONTROL
. . CIRCUIT
2O
—l.
REDUCTION WOTAGE
VOLTAGE SUPPRESSION
START-UP CIRCUTIO8)
CIRCUIT (24)
168

VOLTAGE/
FREQ.
158 CONTROL
8 SOFT CIRCUIT
START/STOP
CIRCUIT
(E. b. f MINIMAM MOTOR

56------ 54
52n SWEEP
FREQ. 15O 67
RCUT
------- LoSCILLATOR
U.S. Patent May 29, 1984 Sheet 7 of 7 4,451,112

236
PWM
CONTROL
CIRCUIT

2Q so22
- CIRCUIT
I6
CPU 5 O AOR
23 r2: SCiLL
Vs

241. 26 18
 4,451,112
1. 2
erated up to the normal operating speed. This method is
METHOD AND APPARATUS FOR CONTROLLING disclosed, for example, in German Patent Laid-Open
AC MOTOR publication No. 2,520,164 published on Nov. 27, 1975.
This method, however, needs the detection of the speed
The present invention relates to a method and appara and phase of the AC motor during the power failure,
tus for controlling an AC motor which is driven i.e., during the deactivation of the motor, and thus it can
through a frequency converter such as a cycloconverter be applied to synchronous motors but can not be ap
and inverter. plied to induction motors.
There is known an apparatus for controlling an AC Accordingly, it is an obiect of the present invention
motor wherein the AC motor is connected to the AC O to provide a method and apparatus for operating an
power source through a frequency converter consisting induction motor by use of a frequency converter,
of a power rectifier (hereafter referred to as rectifier) wherein an induction motor running by inertia can he
and a power inverter (hereafter referred to as inverter), restarted in a short time with a small current for reener
and the AC motor is controlled by the frequency con gizing the motor.
verter. In such a control apparatus, when a power fail 15 In order to achieve the above-mentioned object, the
lure occurs during the operation of the AC motor method
through the frequency converter, leaving the AC motor an initialofvoltage
the present invention is characterized in that
with a frequency which is assumed to
to rotate by inertia, and then if the power supply recov minimize the absolute value of the motor current is
ers while the AC motor is free-running, it is often ob applied to the free-running induction motor at restarting
served that an immediate application of the power volt 20 thereof, and subsequently the voltage and the frequency
age to the AC motor in the same frequency and at the is increased gradually so that the induction motor is
same level as those which have been supplied from the energized normally.
frequency converter to the AC motor before the power
failure occurs cause a large motor current even if the of the presentandinvention
The above other objects, features and advantages
duration of the power suspension is short. This phenom 25 following description withwill be more clear from the
reference to the accompany
enon occurs based on the relation between the direction ing drawings, in which:
of the induced voltage in the AC motor and the phase of FIG. 1 is a block diagram of an embodiment of the
the power voltage when it is applied to the motor, and induction motor control apparatus according to the
a large motor current results when the phase of the present invention;
current caused by the induced voltage coincides with 30
FIG. 2 is a graph showing the relation between the
the phase of the current supplied from the power output voltage and the output frequency of the fre
SOCe.
It is also observed when the power supply has recov quency FIG.
converter for starting the induction motor;
3 is a flowchart showing the normal operation
ered that the larger the difference between the output of the control apparatus of FIG. 1;
frequency of the frequency converter and the motor 35 FIG. 4 is a flowchart showing the restarting opera
speed when the converter has been restarted, the larger tion of the motor;
the motor current which results. Therefore, the fre FIG. 5 is a timing chart explaining the operation of
quency converter needs to have an increased power the flowchart in FIG. 4;
capacity, which is not economically desirable. FIG. 6 is a graph showing the relationship between
Accordingly, if a power failure lasts a relatively long 40
the output voltage and frequency of the inverter;
time and the AC motor has slowed down to a low
speed, an immediate application of the power voltage to FIG. 7 is a flowchart showing the operation of the
the AC motor in the same frequency and at the same second embodiment of the present invention;
level as those before the power failure has occurred will FIG. 8 is a timing chart explaining the operation of
cause a large difference between the output frequency 45 the flowchart in FIG. 7;
of the frequency converter and the motor speed, result FIG. 9 is a graph showing the relation between the
ing in a large motor starting current. This situation is inverter frequency and the motor current used in the
also true in the case where a power failure occurs so second embodiment;
that the motor is deactivated into a free-running state, FIG. 10 is a block diagram explaining the functions of
power is supplied again to the motor in the same fre 50 the CPU; and
quency and at the same level as those before the power FIG. 11 is a block diagram of the third embodiment
failure has occurred. of the present invention.
In order to avoid such a large motor starting current, The induction motor control apparatus according to
the conventional method is to restart the AC motor the present invention will now be described with refer
after it has stopped regardless of the duration of the 55 ence to the accompanying drawings. FIG. 1 is a block
power failure or the duration of deactivation of the diagram showing the first embodiment of the induction
motor. Restarting of the AC motor is carried out by motor control apparatus according to this invention,
gradually increasing the frequency of the power volt where a frequency converter of a pulse amplitude mod
age supplied to the motor, and therefore, it takes a long ulation (PAM) system is used for driving an induction
time to restart the motor and put it into the steady oper 60 motor. In the figure, an AC power source 2 is con
ating condition. nected through a switch 3 to a power rectifier 4 which
In order to overcome this deficiency, there has been converts the alternating current from the AC power
proposed a method wherein the inverter is controlled to source 2 into a direct current. The DC output from the
synchronize with the motor speed during a power fail rectifier 4 is smoothed by a smoothing capacitor 6 and
ure and free running of the motor, and on recovery of 65 supplied to a power inverter 8 which converts the di
the power supply the frequency converter is restarted rect current into an alternating current. Then, the AC
with its output frequency synchronized with the motor output from the inverter 8 is supplied to an induction
speed, so that the motor in a falling-down speed is accel motor 0.
 4,451,112
3 4.
In the present invention, the circuit arrangement for not. If the motor speed is found zero, step 53 proceeds
controlling the frequency converter, i.e., made up of the so as to carry out the ordinary zero-starting method. If
rectifier and the inverter, employs a microcomputer 20. the motor speed is not zero, it is determined that the
The microcomputer 20 comprises a central processing motor is running by the inertia, and step 74 in FIG. 4
unit (CPU) 22, a random access memory (RAM) 24, a will proceed.
read only memory (ROM) 26, an input circuit 28, and an Next in step 53, the CPU calculates values of the
output circuit 30. The CPU, RAM, ROM, and input Voltage command signal and frequency command signal
circuit are interconnected through data, address, and to be supplied to the phase control circuit 36 and the
control buses 23. phase distributor 32 corresponding to the initial com
The induction motor 10 is provided with a tachome O mand voltage ViG-1) and initial command frequency
ter generator 12 which produces an analog voltage in fiG-1), respectively, to be supplied to the motor 10, then
proportion to the motor speed, and it is delivered to a delivers them through the output circuit 30 to the phase
detection circuit 14. The detection circuit 14 makes control circuit 36 and phase distributor 32. Here, the
level conversion and filtering for the analog voltage frequency command signal is a pulse signal having a
output from the tachogenerator 12 thereby applying it 15 frequency corresponding to the output frequency of the
to the input circuit 28. The tachometer generator 12 inverter, and the voltage command signal is an analog
may be replaced by a pulse generator which produces signal having a level corresponding to the output volt
pulses in synchronizm with the rotation of the motor 10. age of the rectifier. The voltage command signal is
The output signal of the detection circuit 14 is con amplified by the gate signal amplifier 38 and delivered
verted into a parallel digital signal by the input circuit 20 to the rectifier 4. The conduction phase angle of thy
28. ristors in the rectifier 4 is controlled so that the output
An oscillator 16 generates clock pulses with a con voltage thereof is equal to the initial command voltage
stant frequency, and supplies them to the input circuit V1. The frequency command signal is amplified by the
28. A speed setup unit 18 provides an analog voltage gate signal amplifier 34 and delivered to the inverter 8,
which indicates a manual setup speed, and supplies it to 25 in which the conduction angle of thyristors is con
the input circuit 28, in which the analog voltage is con trolled so that the output frequency is equal to the initial
verted into a digital signal. command frequency f1.
The CPU performs the predetermined computation Next in step 54, the CPU checks whether the com
in response to the signals received by the input circuit mand frequency fi is equal to or higher than the setup
28 and data stored in the RAM and also in accordance 30
with the program stored in the ROM. The result of frequency f. stored in the RAM, and if f is higher than
computation is delivered through the output circuit 30 or equal to f control proceeds to step 60. If f is lower
to a phase control circuit 36 and a phase distributor 32. than f, control proceeds to step 56. Initially, fi is lower
The rectifier 4 is controlled through the phase con than f, and control proceeds to step 56. Alternatively,
trol circuit 36 and a gate signal amplifier 38 so that it 35 this determination may be done based on whether the
produces a target DC output voltage. The inverter 8 is command voltage Viis higher than the setup voltage V.
controlled for its output frequency through the phase In step 56, clock pulses from the oscillator 16 are
distributor 32 and a gate signal amplifier 34 so that the counted by the software counter in the RAM, and when
motor 10 is operated at a target speed set by the speed the count has reached a predetermined value, i.e. on
setup unit 18. expiration of a predetermined period At, control pro
In order to detect a power failure of the AC power ceeds to step 58. In step 58, the present command volt
source 2 and also its recovery, the AC power voltage is age ViG-1) added by a predetermined voltage AV
conducted through a transformer 15 to the input circuit stored in the RAM becomes the new command voltage
28. ViG-2), and the present command frequency fadded by
The operation in the normal operating condition of 45 a predetermined frequency Afstored in the RAM be
the control apparatus arranged as described above will comes the new command frequency fi(-2). Then, the
now be explained by use of the flowchart in FIG. 3. A voltage command signal corresponding to the com
common method of starting an induction motor is that mand voltage V2 and the frequency command signal
the ratio of the motor supply voltage V to its frequency corresponding to the command frequency f2 are read
f is maintained substantially constant as shown in FIG. 50 out from the RAM, and these signals are given to the
2, and the voltage V and the frequency fare increased phase control circuit 36 and the phase distributor 32,
along a line 40. The control apparatus of this invention respectively, in place of the previous voltage and fre
also employs this starting method. quency command signals, so that the output voltage
The flowchart shown in FIG. 3 is put into operation from the rectifier is equal to V2 and the output fre
in accordance with the program stored in the ROM 26. 55 quency of the inverter 8 is equal to f.
Initially in step 50, the CPU reads through the input Next in step 54, the CPU checks whether the com
circuit 28 the setup motor speed vs set on the speed mand frequency fi is equal to or higher than the setup
setup unit 18. If the setup motor speed vs indicates Zero, frequency fobtained in step 50, and carries out the steps
it is determined that the motor is not to be driven, and 54 through 58 repetitively until fi becomes higher than
control returns to step 50. If the setup motor speed vs 60 or equal to f, thereby increasing the command voltage
does not indicate zero, it is determined that the motor is Vi and command frequency fi along the line 40 in FIG.
to be driven, and the CPU computes the output voltage 2. In so doing, when the CPU detects in step 54 that fi
(setup command voltage) Vs and its frequency (setup becomes higher than or equal to f, control proceeds to
command frequency) f of the inverter 8 for attaining step 60 so that the steady operation takes place with the
the setup speed vs, and stores them in the RAM 24. 65 command voltage and command frequency set to Vs
Next in step 51, the CPU reads the output of the and f, respectively. Determination in step 54 may be
tachometer generator 12 through the input circuit, then done based on whether the command voltage Vi is
in step 52 determines whether the motor speed is zero or higher than the setup voltage Vs.
 4,451,112
5 6
Next, the operation of restarting the motor in the case If Vi <Va., control proceeds to step 80. Here, the com
where the AC power source 2 has failed, leaving the mand voltage ViG-1) is lower than Va, and control
motor to run by the inertia, and then the power supply proceeds to step 80.
recovers while the motor is free-running will be de In step 80, clock pulses from the oscillator 6 are
scribed with reference to the flowchart of FIG. 4 and counted in the RAM, and when the count reaches a
the timing chart of FIG. 5. First, when the power predetermined value, i.e. on expiration of the predeter
source 2 fails at point a time t1 as shown in FIG. 5 while mined period At', control proceeds to step 82. Thus,
the motor 10 is running in a steady condition, the output step 80 causes a time delay of At'.
voltage of the inverter 8 and the motor current fall to In step 82, the present command voltage Voi-1)
their zero level, and the motor is put into a free-running 10 added by the predetermined voltage AV stored in the
state by the inertia. When the power supply recovers at RAM becomes the new command voltage ViG-2). The
point a time t2 while the motor is free-running and a CPU reads the RAM for the voltage command signal
command for restarting the motor is issued, it is deter corresponding to the command voltage V2 and supplies
mined that the motor in a free-running state is to be it to the phase control circuit 36 in place of the previous
restarted and step 70 of FIG. 4 is initiated according to 15 voltage command signal, so that the output voltage of
the program stored in the ROM. The command for the rectifier is equal to V2. The frequency command
restarting the motor is issued on condition that the signal retains its value, and thus the output frequency of
switch 3 is closed and the speed setup unit 18 is set to the inverter 8 is kept fa.
somewhere other than Zero. That is, the CPU deter Next in step 78, the CPU checks again if the com
mines the restarting of the free-running motor on re 20 mand voltage V is higher than Va, and carries out the
ceiving through the input circuit 28 a power recovery steps 78 through 82 repetitively until Vibecomes higher
signal from the transformer 15, a motor rotation signal than or equal to Va, thereby increasing the command
from the tachometer generator 12 through the detection voltage V along the line 94 in FIG. 6. This process
circuit 14, and a restarting command signal from the corresponds to the period from the times t2 to t3 in FIG.
speed setup unit 18. 25 5, in which the inverter output voltage and the motor
First in step 70, the CPU reads the outputs of the current increase gradually with the motor speed re
transformer 15 and speed setup unit 18 through the tained almost constant. That is, the inverter output fre
input circuit 28. If the output of the transformer 15 is quency f. matches the motor speed, and there is no
zero or if the speed setup unit indicates Zero speed, it is difference between the frequencies of the inverter out
determined that the motor is not to be driven, and con 30 put signal and the induced voltage in the induction
trol returns to step 70. If the output of the transformer motor when considering the slip. In addition, even if the
is higher than a predetermined level and the setup speed phase difference between the inverter output signal and
is not zero, it is determined that the motor is to be the induced voltage in the induction motor is large
driven and the setup command voltage Vs and setup when the inverter is activated (at the time t2), the in
command frequency f. corresponding to the setup speed 35 verter output voltage is small at the time t2 and will
vs on the speed setup unit 18 are computed and stored in increase gradually after that. Thus, the motor current
the RAM 24. makes a small transition at the time t2, and a residual
Next in step 72, the CPU reads the output signal of voltage of the motor becomes small as the inverter
the tachometer generator 12 through the detection cir output voltage increases gradually. Accordingly, even
cuit 14 and pulse input circuit 28 to estimate the rota 40 if the inverter output voltage increases, the motor cur
tional speed N of the induction motor 10. If the motor rent does not become too large, but increases gradually
speed is found zero in step 73, it is determined that the as shown in (D) of FIG. 5.
motor is restarted from zero speed and control proceeds When the CPU detects in step 78 that the command
to step 53. If the motor speed is not zero, it is deter voltage V has reached Va., control proceeds to step 84
mined that the motor under free run is restarted and 45 and the operation of the motor 10 along the line 94 in
control proceeds to step 74. The steps 70, 72 and 73 may FIG. 6 is completed. This event occurs at the time t3 in
be made identically to steps 50, 51 and 52, respectively, FIG. 5. Step 84 is accompanied by a time delay of the
in FIG. 3. predetermined period. At as in the case of step 80.
In step 74, the CPU computes the output command Next in step 86, the present command voltage Vi(i=a)
frequency f. of the inverter 8 which would achieve the 50 added by the predetermined voltage AV stored in the
motor speed of Nas obtained in step 72 in consideration RAM becomes the new command Voltage Vict-a- 1)
of the slip of the induction motor. The CPU also obtains and the present command frequency fi(i-a) added by the
the output command voltage Va of the rectifier 4 corre predetermined frequency Af stored in the RAM be
sponding to the command frequency fabased on the line comes the new command frequency fi(i=a+ 1). The CPU
40 on the graph of FIG. 2, and stores it in the RAM. 55 reads the RAM for the voltage command signal corre
In step 76, the CPU reads the RAM for the voltage sponding to the command voltage Va-1 and the fre
command signal corresponding to the initial command quency command signal corresponding to the command
voltage Vict-1 (Viz <Va) to be applied to the motor, frequency f1, and supplies these signals to the phase
then delivers the signal through the output circuit 30 to control circuit 36 and the phase distributor 32, respec
the phase control circuit 36. At the same time, the CPU tively, in place of the previously applied voltage con
reads the RAM for the frequency command signal cor mand signal and frequency command signal, so that the
responding to the command frequency fa, and delivers output voltage of the rectifier 4 becomes Va+1 and the
the signal to the phase distributor 32. Thus, the motor is output frequency of the inverter 8 becomes fa-1:
supplied with a power at the command voltage V1 and Next in step 88, the CPU checks whether the com
in the command frequency fa from the inverter 8. 65 mand frequency f. is equal to or higher than the setup
In step 78, the CPU checks whether the present com frequency f. obtained in step 70, and carries out steps 84
mand voltage Viis equal to or higher than the command through 88 repetitively until fi becomes higher than or
voltage V, and if ViaVa, control proceeds to step 84. equal to f, so that the command voltage Vi and the
 4,451,112
7 8
command frequency fincrease, with ratio Vi/fi remain The operation of the second embodiment will now be
ing constant, along the line 96 in FIG. 6. The line 96 has described with reference to the flowchart of FIG. 7.
the same gradient as that of the line 40 in FIG. 2. In so First in step 100, the CPU reads the outputs of the trans
doing, when the CPU detects in step 88 that fi becomes former 15 and speed setup unit 18. If the output of the
higher than or equal to f, control proceeds to step 90, speed setup unit is zero, it is determined that the motor
and the steady operation takes place with the command is not to be driven, and control returns to step 100. If the
voltage being of the setup voltage Vs and the command output of the transformer is larger than a predetermined
frequency of the setup frequency f. value and the setup speed is not zero, it is determined
The process of steps 84 through 88 corresponds to the that the motor is to be driven, and the CPU reads the
period from the time t3 to ta, and the motor speed in 10 setup speed vs set on the speed setup unit 18 and calcu
creases as the command frequency fincreases shown in lates the setup command voltage Vs and setup command
(B) of FIG. 5. The output voltage of the inverter 8 also frequency f. corresponding to the setup speed, and
increases as the command voltage Vincreases as shown stores them in the RAM. Next, the CPU searches for
in (C) of FIG. 5. The motor current does not become the best inverter output frequency fa in steps 102
too large, since the frequency of the inverter output 5 through 116 so as to prevent an excessive transient
signal matches the frequency of the induced voltage in current in the motor. This frequency search is carried
the induction motor at the time t3 and the motor is out by gradually reducing the inverter output frequency
started by a reduction voltage start-up method shown from an inverter output frequency fi(i-max) correspond
by steps 76-82, and the current will increase gradually 20 ing to the maximum motor speed along the line 98 in
as the command voltage Vi increases, FIG. 6. In this case, the inverter output voltage may be
When control proceeds to step 90 at point the time ta. as high as 1/m (e.g. m=10) of the output voltage sup
for the steady operation, the motor speed, the inverter plied in the ordinary operation of the motor as shown
output voltage and the motor current reach their steady by the line 96, because the motor is not required for
state as shown in FIG. 5. providing an output drive torque. Accordingly, the line
As described above, when the free-running motor is
25 98 has a gradient 1/m that of the line 96. When the
reenergized, the inverter increases the output voltage inverter output frequency and output voltage are de
thereof gradually with its frequency matching the creased along the line 98, the motor current varies in
motor speed, thereby preventing an excessive transient relation to the inverter output frequency as shown by
the curve 142 in FIG. 9. The curve 140 indicates the
motor current and allowing the motor to restart in a 30 variation of the motor current when the inverter output
short time. Time period required from restarting the frequency and output voltage are varied along the line
motor to finishing reduction voltage start-up along the 96 of FIG. 6. As shown by the curve 142, the motor
line 94 in FIG. 6 is preferably equal to or longer than current is small when the inverter output frequency and
the second time constant of the motor. The second time output voltage are varied along the line 98 relative to
constant T of the motor is given by T=(LM--LZ)/R2, 35 that when varied along the line 96, thereby leaving no
where LM is an excitation inductance, LZ is a leakage possibility of an excessive transient current in the mo
inductance and R2 is a second resistance of the motor. tor. However, if the motor current is too small, it will be
The second time constant is generally in a range from difficult to measure accurately the frequency fa which
0.2 to 1.0 second. makes the motor current minimum as will be described
In the foregoing embodiment, in order to prevent an shortly. Therefore, the value of m should be chosen so
excessive motor current during the restarting of the that the motor current has an appropriate value. When
motor which is running by the inertia, the motor speed the inverter output frequency and output voltage are
is detected by the tachometer generator and the com varied along the line 98 of FIG. 6, the motor current
mand frequency which matches the motor speed is becomes minimum when the inverter output frequency
provided. 45 matches the frequency of the induced voltage in the
The second embodiment of the present invention motor as shown on the curve 142 in FIG. 9. Accord
features that instead of detecting the motor speed by the ingly, with the inverter output frequency at this point
tachometer generator, the motor current is measured given to the motor as the initial command frequency fa
while sweeping the inverter output frequency fi, and the for restarting, an excessive transient current in the
inverter output frequency f, which makes the motor 50 motor can be prevented.
current minimum is used to restart the motor. Conse The above-mentioned frequency search operation
quently, the inverter output frequency fa shows the will be described in detail with reference to the flow
value which matches the motor speed. chart of FIG. 7. First in step 102, the inverter output
The following describes the second embodiment of frequency fi (max) corresponding to the maximum
the invention with reference to the block diagram of 55 motor speed is used as the initial search frequency, and
FIG. 1, the flowchart of FIG. 7 and the timing chart of the CPU reads the RAM for the value of the frequency
FIG. 8. This embodiment also employs a PAM system command signal corresponding to the initial search
in operating the frequency converter. In the circuit frequency fi (-na) and delivers it through the output
arrangement, the difference of this embodiment from circuit to the phase distributor 32. The CPU also reads
the first embodiment resides in the program in the ROM 60 the RAM for the inverter output voltage V (j-max)
and data in the RAM, and a provision of a current de corresponding to the initial search frequency fi(j=max) in
tector 13 for detecting the motor current at the output accordance with the line 40 in FIG. 2 or the line 96 in
of the inverter 8 in place of the tachometer generator 12 FIG. 6. A voltage 1/m that of the inverter output volt
in the first embodiment. The current detector 13 may be age, i.e. 1/m V0-max), is used as the initial search volt
provided between the capacitor 6 and the inverter 8. An 65 age, and the CPU reads the RAM for the voltage com
analog output signal from the current detector 13 un mand signal corresponding to that voltage and delivers
dergoes the level conversion through the detection it through the output circuit to the phase control circuit
circuit 14, then delivered to the input circuit 28. 36. Then, the rectifier outputs a voltage of 1/m Vi
 4,451,112
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(jamax) and the inverter outputs a frequency of f(-na). the relationship of the line 40 in FIG. 2 and stores it in
The inverter output has not a sufficient power to drive the RAM. In step 118, the CPU reads the RAM for the
the motor. voltage command signal corresponding to the initial
Next to step 104, clock pulses from the oscillator 16 command voltage Vi (i-1) to be supplied to the motor,
are counted in the RAM, and when the count has 5 and delivers it through the output circuit 30 to the phase
reached the predetermined value, i.e. on expiration of control circuit 36. At the same time, the CPU reads the
the predetermined period At, control proceeds to step RAM for the frequency command signal corresponding
106. In step 106, the CPU reads the output of the motor to the command frequency fa and delivers it to the phase
current detector 13 through the detection circuit 14 and distributor 32. Thus, the motor is supplied with power
input circuit 28 so that the motor current IM, (-na) O at the command voltage V1 and in the command fre
corresponding to the search frequency f (-na) is de quency f. from the inverter 8.
tected. The subsequent operation is identical to that of the
In step 108, the present search frequency f (max) first embodiment, with steps 120-132 corresponding to
subtracted by a predetermined frequency Afstored in steps 78-90 in FIG. 4, and the explanation there of will
the RAM, i.e. fij-) becomes the new search frequency, 15 be omitted. The command voltage with its frequency
and the present search voltage 1/m Vi(-na) subtracted kept constant at fa is increased gradually along the line
by a predetermined voltage 1/m AV, i.e. 1/m 94 in FIG. 6 until the voltage reaches V. This opera
(V-AV), becomes the new search voltage. The CPU tion is shown in the period from times t to tain FIG. 8,
reads the RAM for the search frequency command in which the inverter output voltage and thus the motor
signal and search voltage command signal correspond 20 current are increased gradually while the motor speed is
ing to the new search frequency foi-1) and search volt maintained almost constant. In this case, the inverter
age 1/m V0-1), respectively, and delivers these signals output frequency, i.e. the command frequency fa,
through the output circuit 30 to the phase distributor 32 matches the rotational speed of the motor, and the ini
and phase control circuit 36, respectively, in place of tial command voltage is low even if there exists a phase
the previously applied search frequency command sig 25 difference between the initial output voltage of the
nal and search voltage command signal. Step 110 is inverter and the induced voltage, resulting in a small
accompanied with a time delay of the predetermined transient current in starting the motor. In addition, the
period At as in the case of step 104. induced voltage decreases as the command voltage is
Next in step 112, a motor current IMG-1) correspond increased gradually, thus preventing an excessive motor
ing to the search frequency fi-1) is detected. 30 current even for a high command voltage. When the
In step 114, the CPU compares the motor current IM command voltage reaches Va at a time t, both the com
which has been measured previously and stored in the mand frequency and command voltage are increased
RAM with the present motor current IM-1) detected while maintaining their ratio at the predetermined value
in step 112. If IM, is smaller than IMG-1), i.e., if the as defined by the line 96 in FIG. 6. Consequently, the
motor current has increased in response to a decrease of 35 motor speed increases gradually as shown in (B) of
the search frequency, control proceeds to step 115. If FIG. 8. When the command frequency reaches the
IM, is larger than IMG-1), i.e. if the motor current has setup frequency f. obtained in step 100 at a time ts,
decreased in response to a decrease of the search fre control is transferred to the steady operation with the
quency, control returns to step 108. Here, the motor command frequency being off, and the command volt
current decreases as the search frequency decreases, 40 age of Vs. This embodiment is of course applicable to a
and control returns to step 108. The steps through 114 case wherein the motor in a stop condition is started.
are carried out repetitively so that the search frequency Namely, in this case, a command voltage is increased
fiand search voltage 1/m Viare decreased along the line along a line 95 with a fixed frequency in steps 116 to 120
98 in FIG. 6, and the motor current IM which is de and then the command voltage and frequency are in
tected each time will decrease gradually as shown by 45 creased along a dotted line 97 in steps 126-137. Now,
the curve 142 in FIG. 9. In so doing, when the search the stop condition of the motor is detected by such a
frequency reaches a predetermined value fj-1)(j-a), for fact that a motor current IM detected at step 106 is
example, the motor current. IMG-1)-d) makes an in above a predetermined value.
crease when compared with the motor current IM (i-a) In this embodiment, the initial command frequency fa
for the previously measured search frequency fi (i-a), 50 is searched by decreasing the search frequency from the
(i.e. fa=fa-1)+Af). Thus, the motor current turns to maximum value f(-na), however, the search fre
increase as the search frequency decreases, and the quency may be increased from the minimum value
motor current IMi(-a) shows the minimum value on the f0-min) for this purpose.
curve 142 in FIG. 9. Accordingly, when IM, is found The embodiment was described for the case in which
Smaller than IMG-1) in step 114, control proceeds to step 116 to 55 a power failure occurs at the time t1, and frequency
complete the frequency search operation. Consequently, the search fre search is started at the time t2 when the power supply
quency f. corresponding to the motor current Ma matches recovers at that time. However, this method and appa
the frequency of the induced voltage in the motor, and ratus can also be applied to the case in which the in
by using this frequency as the initial command fre verter is deactivated manually at the time t1, leaving the
quency, the minimum motor current for restarting can 60 motor to run by the inertia, and after that the free-run
be attained. Thus, during the process from the recovery ning motor is restarted manually at the time t2.
of the power supply at the time t2, to completion of the The functions of the microcomputer 20 in the forego
frequency search operation at the time t3, the motor ing second embodiment can be represented illustra
speed decreases gradually. tively as blocks 150-168 in FIG. 10. The reference nu
Next in step 116, the search frequency fais used as the 65 merals in the blocks indicate the functions which the
initial command frequency for restarting the motor, and respective blocks perform in the flowchart of FIG. 7.
the CPU obtains the output voltage Va of the rectifier 4 First, in starting the motor from zero speed, switches
corresponding to the initial command frequency fa from 160 and 64 are thrown to contacts c and a soft start
 4,451,112
11 12
stop circuit 158 operates under control of a timer 150 in the case of FIG. 1, and it is carried out in accordance
accordance with the setup speed of the speed setup unit with the flowcharts of FIG. 4 and FIG. 7.
18, so that the output voltage and frequency of a vol What is claimed is:
tage/frequency control circuit 162 increase gradually. 1. In a control apparatus for an induction motor
The voltage command signal and frequency command wherein an alternating current power source is con
signal from the control circuit 162 are delivered to the nected to the motor through a switch and a frequency
phase distributor 32 and phase control circuit 36, re converting means and the motor speed is controlled by
spectively, and the motor is restarted. controlling the output frequency and the output voltage
Next, driving of the free-running motor will be ex of said frequency converting means, a method for con
plained. First, the switches 160 and 164 are thrown to 10 trolling said induction motor which is running by the
contacts a, and a frequency sweep circuit 152 operates inertia in case of reenergizing said motor comprising:
under control of the timer 150, so that the output volt a first step of causing said frequency converting
age and frequency of the voltage/frequency control means to produce at a time of starting of said motor
circuit 162 decrease gradually. Then, the control circuit an initial frequency which is expected to cause the
162 issues the frequency command signal and voltage 15 absolute value of the current flowing in said free
command signal, indicating the reduction of the fre running induction motor to become substantially
quency and voltage along the line 40 in FIG. 2 (or line minimum and an initial voltage which is insufficient
96 in FIG. 6), to the phase distributor 32 and a voltage to drive said motor;
suppression circuit 166, respectively. The voltage sup a second step of increasing said output voltage gradu
pression circuit 166 divides the analog voltage com 20 ally from said initial voltage with said initial fre
mand signal by m, and delivers it to the phase control quency maintained; and
circuit 36. Then, frequency search is carried out along a third step of increasing said output frequency and
the line 98 in FG, 6. output voltage, with the ratio therebetween being
In this state, the motor current detected by the cur maintained almost at a predetermined value, after
rent detector 13 is read into a motor current comparator
25 said output voltage has reached a predetermined
154 sequentially through the detection circuit 14 so that value,
the new current level is compared with the previous wherein said first step includes:
a fourth step of causing said output voltage to be used
current level. A minimum current detecting circuit 156 as a search voltage which is insufficient to drive
determines whether the new current level is the mini 30 said motor, and varying said output frequency and
mum, and if it is not the minimum, a signal is issued on said search voltage with the ratio therebetween
a line 157 so that the switches 160 and 164 are kept being maintained at a predetermined value;
positioned on the contacts a. If the new current level is a fifth step of detecting the motor current while said
found minimum, a signal is issued on a line 159 so that output frequency is varied for a variation of said
the switches are turned to contacts b, and the control 35 output frequency by a pregiven value; and
circuit 162 issues the frequency command signal corre a sixth step of determining, as said initial frequency,
sponding to the minimum motor current and a reduc an output frequency which corresponds to the
tion voltage start-up circuit 168 is operated to increase minimum value of the motor current detected in
the command voltage gradually along the line 94 in said fifth step.
FIG. 6. When the command voltage reaches the prede 2. A method for controlling an induction motor ac
termined level, the switches 160 and 164 are turned to cording to claim 1, wherein said fourth step decreases
the contacts c, and the command voltage and command said output frequency and said search voltage gradually
frequency are increased along the line 96 in FIG. 6 in with the ratio therebetween maintained at the predeter
accordance with the soft start-up circuit 158. When the mined value, and
command values reach the predetermined levels, con 45 said sixth step compares the present motor current
trol is transferred to the steady operation. value corresponding to the present output fre
In the foregoing first and second embodiments, the quency with the previous motor current value
frequency converter of a PAM system is used, how corresponding to the previous output frequency
ever, the present invention can also be applied to the which is larger than the present frequency value by
arrangement of a PWM system. 50 the pregiven value, and determine, as said initial
FIG. 11 is a block diagram of the third embodiment frequency, a previous output frequency the previ
of the present invention, in which a frequency con ous motor current corresponding to which in
verter of a PWM system is employed. In this embodi creases for the first time when compared with the
ment, a power rectifier 204 rectifies the output voltage present motor current corresponding to the present
of the AC power source to produce a constant DC 55 output frequency.
voltage. The command voltage supplied to the motor is 3. A method for controlling an induction motor ac
varied by controlling the pulse width of the output cording to claim 1, wherein said fourth step increases
voltage from an inverter 208 in response to the output said output frequency and said search voltage gradually
signal, i.e. the voltage command signal, from a PWM with the ratio therebetween maintained at the predeter
control circuit 236 given through a gate signal amplifier 60 mined value, and
234. The output frequency of the inverter is controlled said sixth step compares the present motor current
in response to the output signal from the phase distribu value corresponding to the present output fre
tor 32, i.e. the frequency command signal, given quency with the previous motor current value
through the gate signal amplifier 234. Other circuit corresponding to the previous output frequency
arrangement is identical with that of FIG.1. In FIG. 11, 65 which is less than the present frequency value by
the same reference numerals are used for identical por the pregiven value, and determine, as said initial
tions shown in FIG. 1. In the embodiment of FIG. 11, frequency, a previous output frequency the previ
the free-running motor is restarted in the same way as in ous motor current corresponding to which in
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13 14
creases for the first time when compared with the mum value of the motor current detected in said
present motor current corresponding to the present second step;
output frequency. a fourth step of increasing said output voltage gradu
4. A method for controlling an induction motor ac ally from an initial voltage which is insufficient to
cording to claim i, wherein a time period required for drive said motor with said initial frequency main
performing said second step is not shorter than a second tained; and
time constant of said induction motor. a fifth step of increasing said output frequency and
5. A method for controlling an induction motor ac output voltage, with the ratio therebetween being
cording to claim 1, wherein said third step increases said maintained almost at a predetermined value, after
output frequency and voltage until said output fre 10 said output voltage has reached a predetermined
quency and voltage reach pregiven frequency and volt value.
age respectively, and thereafter maintains said output 8. A method for restarting an AC motor which is
frequency and voltage at said pregiven frequency and running by inertia, in which upon restarting an a.c.
voltage respectively. voltage source is connected to the motor through a
6. A control apparatus for an induction motor, 15 frequency converter and the motor speed is controlled
wherein an alternating current power source is con by controlling the output frequency and the output
nected to the motor through a switch and a frequency Voltage of said frequency converter and the motor ro
converting means and the motor speed is controlled by tates by the action of its moment of inertia, comprising:
a controller through controlling the output frequency
and the output voltage of said frequency converting 20 a first a
step of causing said output voltage to be used as
search voltage which is insufficient to drive said
means, said controller including: motor, and varying said output frequency and said
first means for causing said frequency converting search voltage with the relation therebetween
means to produce at a time of starting of said motor being maintained at a predetermined relation;
an initial frequency which is expected to cause the
absolute value of the current flowing in said free 25 a second output
step of detecting a motor current while said
frequency is varied for a variation of said
running induction motor to become substantially output frequency;
minimum and an initial voltage which is insufficient a third step of determining, as an initial frequency, an
to drive said motor; output frequency which corresponds to the mini
second means for increasing said output voltage grad mum value of the motor current detected in said
ually from said initial voltage with said initial fre 30 second step;
quency; and a fourth step of increasing said output voltage gradu
third means for increasing said output frequency and ally from an initial voltage which is insufficient to
output voltage, with the ratio therebetween being drive said motor; and
maintianed almost at a predetermined value, after a fifth step of varying said output frequency and out
said output voltage has reached a predetermined 35 put voltage, with the ratio therebetween being
value, maintained almost at a predetermined value, after
wherein said first means includes:
fourth means for causing said output voltage to be said output voltage has reached a predetermined
value.
used as a search voltage which is insufficient to 9. A method for restarting an AC motor according to
drive said motor, and varying said output fre claim
quency and said search voltage with the ratio quency8, and wherein said fifth step varies said output fre
therebetween being maintained at a predetermined voltage reachvoltage a
until said output frequency and
pregiven frequency and a pregiven
value; voltage respectively, and thereafter maintains said out
fifth means for step of detecting the motor current put frequency and voltage at said pregiven frequency
while said output frequency is varied for a varia 45 and pregiven voltage respectively.
tion of said output frequency by a pregiven value; 10. A method for restarting an AC motor according
and
sixth means for determining, as said initial frequency, to claim 8, wherein
an output frequency which corresponds to the said first step decreases said output frequency and
minimum value of the motor current detected by 50 said search voltage gradually with the ratio there
said fifth means. between maintained at a predetermined value; and
7. A method for restarting an AC motor which is said third step compares the present motor current
running by inertia, in which upon restarting an a.c. value corresponding to the present output fre
voltage source is connected to the motor through a quency with the previous motor current value
frequency converter and the motor speed is controlled 55 corresponding to the previous output frequency
by controlling the output frequency and the output which is larger than the present frequency value by
voltage of said frequency converter and the motor ro a pregiven value, and determines, as said initial
tates by the action of its moment of inertia, comprising: frequency, a previous output frequency at which
a first step of causing said output voltage to be used as the previous motor current increases for the first
a search voltage which is insufficient to drive said time when compared with the present motor cur
motor, and varying said output frequency and said rent corresponding to the present output fre
search voltage with the ratio therebetween being quency.
maintained at a predetermined value; 11. A method for restarting an AC motor according
a second step of detecting a motor current while said to claim 8, wherein
output frequency is varied for a variation of said 65 said fourth step first increases said output frequency
output frequency by a pregiven value; and said search voltage gradually with the ratio
a third step of determining, as an initial frequency, an therebetween maintained at the predetermined
output frequency which corresponds to the mini value; and
 4,451,112
15 16
said third step compares the present motor current said motor, and varying said output frequency and
value corresponding to the present output fre said search voltage with the relation therebetween
quency with the previous motor current value being maintained at a predetermined relation;
corresponding to the previous output frequency second means for detecting a motor current while
which is less than the present frequency value by a 5 said output frequency is varied for a variation of
pregiven value, a previous output frequency at said output frequency;
which the previous motor current increases for the third means for determining, as an initial frequency,
first time when compared with the present motor an output frequency which corresponds to the
current corresponding to the present output fre- minimum value of the motor current detected by
quency. 10 said second means;
12. A control apparatus for an induction motor, fourth means for increasing said output voltage grad
wherein an alternating current power source is con ually from an initial voltage which is insufficient to
nected to the motor through a frequency converting drive said motor; and
means and the motor speed is controlled by a controller fifth means for varying said output frequency and
through controlling the output frequency and the out- 15 output voltage, with the ratio therebetween being
put voltage of said frequency converting means, said maintained almost at a predetermined value, after
controller comprising: said output voltage has reached a predetermined
first means for causing said output voltage to be used value.
as a search voltage which is insufficient to drive sk
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