CN100358236C - Digital intelligent control system of adopting low voltage converter to realize medium-voltage motor speed regulation - Google Patents
Digital intelligent control system of adopting low voltage converter to realize medium-voltage motor speed regulation Download PDFInfo
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- CN100358236C CN100358236C CNB2005100552101A CN200510055210A CN100358236C CN 100358236 C CN100358236 C CN 100358236C CN B2005100552101 A CNB2005100552101 A CN B2005100552101A CN 200510055210 A CN200510055210 A CN 200510055210A CN 100358236 C CN100358236 C CN 100358236C
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Abstract
The present invention relates to a digital intelligent control system which adopts a low-voltage converter to realize speed regulation of a middle-voltage motor. The control system comprises a rectifier in a chopped type, an inverter and a power transformer, wherein the rectifier in a chopped type is composed of an uncontrollable three-phase rectifier and a chopper; the control system also comprises a digital signal processor, an inner-ring current controller which is connected with the digital signal processor, and a programmable controller. The inner-ring current of a speed regulation system is controlled by the inner-ring current controller, the outer-ring speed of the speed regulation system is controlled by the digital signal processor, and programs of the speed regulation system and an electromotor system are controlled by the programmable controller. The present invention is suitable for general wire-winding asynchronous motors, internal feedback wire-winding asynchronous motors, cage winding type double feedback motors without brushes and cage winding type internal feedback motors. The present invention has the advantages of simple main loop, a few devices, small control error, good man-machine interface, flexible communication methods, simple and convenient use, high digital degree, low cost, energy saving and environment protection, and remote monitoring and management are realized.
Description
Technical field
The present invention relates to ac motor speed control control technology field, particularly a kind of digital intelligent control system that adopts low voltage frequency converter to realize the middle voltage electromotor speed governing.
Background technology
The mesohigh motor is widely used in dragging of blower fan and water pump, if can utilize speed governing to realize that air quantity and the water yield regulate, then can save a large amount of electric energy, so market is very vigorous to the demand of the moderate mesohigh governing system of function admirable, cost.With DSP, single-chip microcomputer etc. is the digital control chip popularization and application of representative and promoting the use of of Fuzzy Logic in Intelligent control technology, for the digital intelligent chemical control system of middle pressure AC asynchronous motor speed governing lays the foundation.
Existing high-power (＞press that (3～10KV) AC asynchronous motor governing systems mainly are divided into stator side frequency control and rotor-side tandem control two big classes, and all there is weak point separately in they in 200KW).
In the ac motor speed control control system, the stator side frequency control is regulated rotating speed at motor stator side joint medium voltage frequency converter by changing stator voltage and frequency.The medium voltage frequency converter capacity required is big, is motor rated power P
NAbout 1.2, the voltage of transformation height needs many power electronic device series connection, system is huge, complicated, valency is high, reliability is influenced.The rotor-side tandem control is in traditional cascade adjustable-speed system, and uncontrollable rectifier of rotor side joint and inverter change rotor voltage by changing inverter triggering phase shifting angle, realize speed governing.Rotor voltage is low, and (generally＜1000V), blower fan and load of the pumps require speed adjustable range little (general 40～50%), the governing system low pressure (little (0.4～0.5P of＜600V) converting electric power, and capacity in addition
N), avoided the difficulty of middle pressure speed governing.Tradition cascade adjustable-speed system main circuit is made up of 4 big parts such as uncontrollable rectifier, thyristor, smoothing reactor and rectifier transformers, and its major defect is, the phase shifting control of inverter causes the operate power factor low, and harmonic wave is big.
In the cascade adjustable-speed system of improved inner-feeding motor+thyristor copped wave and inversion, by in motor stator, installing a cover additional supply winding additional, motor is done with transformer be in the same place, reduced equipment; By DC chopped-wave, the inverter capacity is further reduced, the operate power factor improves.System's total power factor is a little less than the power factor of motor own when specified, but descends with rotating speed, influenced by thyristor inverter, and power factor descends many.Motor often is operated in underloading, than under the low velocity, this shortcoming makes motor operation average power factor low, needing 2 huge direct current reactors in the intermediate dc loop is deficiencies of this improvement project.This makes existing chopped mode cascade adjustable-speed system because still have problems, and has influenced chopped mode tandem control broad application greatly.
Summary of the invention
The objective of the invention is to overcome the above-mentioned defective of tandem control, provide a kind of major loop simple, equipment is few, departure is little, have good man-machine interface, flexibly means of communication, easy to use, can realize remote monitoring and management, and digitized degree is high and with low cost, the digital intelligent control system of the employing low voltage frequency converter of energy-conserving and environment-protective realization middle voltage electromotor speed governing.
For achieving the above object, the present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, comprise electric motor system and governing system, described governing system comprises the chopped mode rectifier that is connected on successively in the main circuit, inverter and power transformer, the chopped mode rectifier is made up of uncontrollable rectifier of three-phase and chopper, also comprise a digital signal processor and the interior circular current controller and the programmable controller that link to each other with described digital signal processor, and by the interior circular current control of circular current controller enforcement in described to governing system, by the outer shroud speed control of described digital signal processor enforcement to governing system, by described process control of compiling process controller enforcement, the steps include: governing system and electric motor system
(1) described digital signal processor starts initialization subroutine and self is carried out initialization, and system is in the preparation state;
(2) user is by touching screen input operation information;
(3) call parameters input subroutine, input technology type, technological parameter determine to adopt any one control algolithm in fuzzy control, PID control and the fuzzy control;
(4) start the running of programmable controller controls electric motor system; Described digital signal processor judges by acquired signal whether described governing system is in normal operating conditions, if undesired then described governing system is not worked, motor enters full speed running, in case normally enter speed regulating control at any time;
(5) start interior ring speed regulating control, described interior circular current controller output is to the control signal of described chopper;
(6) start the outer shroud speed regulating control, control given motor speed by fuzzy control or PID, the control electromotor velocity steadily rises or descends;
(7) phase place of detection of grid produces sinusoidal wave pulse by circular current controller in described and controls described inverter, makes described inverter feedback electrical power;
(8) described digital signal processor is patrolled and examined the fault whether described governing system exists overcurrent, overvoltage, overheated and phase shortage, does not then keep speed governing operation if having; If break down, then described governing system is protected, show dependent failure information, and switch to full speed running by the speed governing state;
(9) described digital signal processor is implemented protection control to described electric motor system and environment corollary equipment.
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, and wherein said interior circular current controller comprises differential amplifier, D/A converter, down counter, comparator and output trigger; Described governing system is provided with rotor current voltage acquisition system, lime sensor acquisition rotor rectified current wherein, and resistor voltage divider circuit is gathered the rotor commutating voltage, and voltage sampling circuit obtains dc inversion voltage; In described the 6th step, described digital signal processor provide clock, fuzzy/pid control algorithm is given, the minimum service time of chopper and minimum turn-off time, above-mentioned acquired signal is carried out after the logical operation control impuls with the current peak two point form by circular current controller in described, control the switching tube of described chopper, duty ratio is regulated in requirement according to speed governing, thereby changes dc inversion voltage.
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor stores by touch-screen can realize man-machine interaction, and the setting, controller type of carrying out technological parameter selected, the preservation of technological parameter and revise the input-output subprogram of some operations.
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor stores handles described governing system overcurrent, overvoltage, overheated and open-phase fault, and the warning subprogram of described electric motor system and environment corollary equipment fault.
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor stores the supervisory routine by RS232/RS485 communication interface and/or CAN fieldbus and/or the computer-implemented telecommunication of IP interface and Surveillance center, and described Surveillance center computer directly carries out remote monitoring to the state of described governing system.
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, and wherein said digital signal processor replaces with single-chip microcomputer.
Employing low voltage frequency converter provided by the invention is realized the digital intelligent control system of middle voltage electromotor speed governing, and its beneficial technical effects is: compare with existing stator side medium voltage frequency converter, adopt (20%～50%) P
NGeneral low-voltage Frequency Converter Control 100%P
NMiddle voltage electromotor is realized 40%～50% speed governing requirement of high-power blower and pump, has avoided the difficulty of medium voltage converter.Governing system has been saved huge direct current reactor or has only been needed very little direct current reactor, and major loop is simple, and equipment is few.All all there are being good current response, power factor height, harmonic wave little, easy to adjust in the range of speeds.Change speed governing operation into from traditional constant speed, can save a large amount of electric energy (average 30%～40%) and fuel, improve environment, optimize technical process, improve product yield and quality, reduce maintenance and reduced cost, it is with low cost, only is 30%～50% of stator side medium voltage frequency converter price.
Owing in chopper, adopt Dian Liu Mine value relatively to realize two point form control in the circular current control, replace current regulator and duty ratio D generator, be not subjected to the boost chopper non-linear effects, error is little, need not to adjust dynamic parameter, and is easy to use.At underloading Dian stream Duan Xu Time, controller endure.Owing to adopt the Fuzzy Logic in Intelligent control technology; and DSP and FPGA; the digitizing technique that PLC combines; digitlization; intelligent degree height; solved the non-linear problem that maybe can't set up precise control model of electric machine speed regulation well; and have good man computer interface and a means of communication flexibly; can select suitable control algolithm and technological parameter according to technological requirement and field condition; realize the communication of governing system and upper managing computer by RS232/RS485 or CAN fieldbus; or directly connect with the center monitoring computer by built-in IP interface module; carry out remote monitoring and management; by the rich data acquisition interface, speed governing and electric system and blower fan and pump class etc. are carried out on-site supervision and protection.
The present invention is described in detail with reference to accompanying drawing below in conjunction with embodiment.
Description of drawings
Fig. 1 is that the present invention adopts low voltage frequency converter to realize the circuit diagram one of the digital intelligent control system of middle voltage electromotor speed governing (being used for pressing the conventional wound asynchronous motor);
Fig. 2 is that the present invention adopts low voltage frequency converter to realize the circuit diagram two of the digital intelligent control system of middle voltage electromotor speed governing (being used for pressing the internal feedback wire wound asynchronous motor);
Fig. 3 is that the present invention adopts low voltage frequency converter to realize the circuit diagram three of the digital intelligent control system of middle voltage electromotor speed governing (being used for pressing around the cage brushless double-fed motor);
Fig. 4 is that the present invention adopts low voltage frequency converter to realize the circuit diagram four of the digital intelligent control system of middle voltage electromotor speed governing (being used for pressing cage internal feedback motor);
Fig. 5 a) and Fig. 5 b) be the chopper of two kinds of switching devices in the governing system of the present invention and the circuit diagram of inverter;
Fig. 6 is the double-layer structure figure of digital intelligent hardware control system in the governing system of the present invention;
Fig. 7 is the structure chart of interior circular current controller in the governing system of the present invention;
Fig. 8 a) and Fig. 8 b) be the oscillogram of current peak two point form control in the governing system of the present invention;
Fig. 9 is the control chart of inverter in the governing system of the present invention;
Figure 10 is the schematic diagram of two closed-loop controls in the governing system of the present invention;
Figure 11 is a communication interface schematic diagram in the governing system of the present invention;
Figure 12 is the flow chart of main program in the governing system of the present invention;
Figure 13 a) and Figure 13 b) be the fuzzy control principle figure and the fuzzy control program flow chart of governing system outer shroud speed of the present invention;
Figure 14 is the flow chart of parameter input-output subprogram in the governing system of the present invention;
Figure 15 is the flow chart of troubleshooting and warning subprogram in the governing system of the present invention.
Embodiment
The present invention adopts low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, and with reference to Fig. 1, MD is an electric motor system, comprises motor M and auxiliary devices such as start-up control switch and distribution.Governing system MSR comprises that low-voltage variable frequency speed governing main circuit and DSP (or single-chip microcomputer) are main digital intelligent control section.In main circuit, CR is the chopped mode rectifier, and DR is the uncontrollable rectifier of three-phase, and IC is for adopting the chopper of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); INV is for adopting the inverter of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); Wherein, C
DBe INV storage capacitor, I
SBe motor stator currents, I
RBe motor rotor electric current, U
RBe motor rotor voltage, I
DRBe DR output DC stream, U
DRBe DR output dc voltage, I
DBe CR output current, U
DBe CR output voltage, I
AwBe INV output current, U
AwBe the INV output voltage.Digital control part comprises digital signal processor DSP (Digital Signal Processor), interior circular current controller NFC and programmable controller PLC (Programmable LogicController), and wherein interior circular current controller NFC is made up of D/A conversion, comparator C P and on-site programmable gate array FPGA (Field Programmable Gate Array).
Since process control technology by the discrete component in past, simple integrated circuit develops into DSP, single-chip microcomputer, on-site programmable gate array FPGA, programmable controller PLC is the Digital Control circuit of core, promptly develop to the digitlization direction.
In the present invention, the structure of FPGA mainly is divided into three parts: configurable logic block CLB (Configurable LogicBlocks), programmable I/O module and interconnector able to programme.FPGA clock frequency height, inner time delay is little; All control logic is finished by hardware, and speed is fast, the efficient height; Composition form is flexible, can integrated peripheral control, decoding and interface circuit.This governing system adopts two closed-loop controls, promptly interior circular current and outer shroud speed.Wherein interior circular current is to realize recently that by the duty of control chopping switch device V1 it is all higher to the speed and the reliability requirement of control circuit.In addition, opening of inverter switching device pipe IGBT also all requires control circuit that good antijamming capability is arranged.Therefore the low layer control circuit of this governing system selects FPGA circuit at a high speed to be realized.FPGA can adopt the series of products of the leading Xilinx company in this field, as XC3000, XC4000 to Spartan-II E and VirtexII Pro etc., FPGA can couple together logic array according to the field programming that requires of controlled function, and the logic array scale that FPGA comprised can be selected flexibly.
Single-chip microcomputer needs in the computing to take the more instruction cycle as being Complex Instruction Set Computer (CISC), and execution speed is slow, but single-chip microcomputer has very strong external interface ability.Present 16 single-chip microcomputers of development are enhanced on speed as the 80C196KC of Intel.DSP belongs to Reduced Instruction Set Computing (RISC), and most of instructions can both be finished in one-period, and can pass through parallel processing technique, finishes many instructions in an instruction cycle; Simultaneously, DSP adopts improved Harvard structure, has the program and the data/address bus of separation, allows stored program and data simultaneously; Adopt multi-stage pipeline and built-in high-speed hardware multiplier, make it have data operation ability at a high speed, the chip of representative has TMS320LF24x series.In speed regulation process, carry out the given adjusting of speed according to technological parameter, rate integrating computing in electric motor starting and the moderating process, the fault alarm of governing system, electric system and controlling object blower fan and pump class etc., these occasions are had relatively high expectations to control strategy and control algolithm, so governing system adopts DSP to cooperate software programming technique to realize above-mentioned control.The DSP that governing system is used can select the Motor Control special chip TMS320C24xx of American TI Company or high-end TMS320C28xx, 16 products such as 80C196KC of the optional Intel Company of single-chip microcomputer.
That PLC has is easy, reliable, be easy to advantage such as use, and in governing system, the strict follow procedure of the action need of machinery and electrical system cooperates execution, so that control system and PLC are used is very necessary.
With reference to Fig. 5, in chopper and converter main circuit, adopt full controlled tr tube IGBT (Insulated Gate BipolarTransistor) or IGCT (Integrated Gate Commutated Thyristor), IGBT is the insulated door bipolar transistor, IGCT is an integrated gate commutated thyristor, also can adopt other can turn-off power electronic device, as high power transistor GTR etc., make main circuit and control circuit simpler.Since carry out the low-voltage variable frequency speed governing in rotor-side, low to the requirement of withstand voltage of switching tube, can adopt price to hang down the complete common IGBT switching tube of description, for the occasion of bigger speed governing power, can consider the IGCT switching tube that adopts the current/voltage capacity bigger.
With reference to Fig. 6, in the present invention, the digital intelligent hardware control system is a double-layer structure, and the upper strata is DSP, and lower floor mainly is made up of FPGA and PLC.DSP mainly finishes the control of outer shroud speed, for circular current control in the FPGA offers value data.Jointly governing system and electric system are directly controlled by FPGA and PLC, wherein FPGA finishes the chopper output voltage U
DAdjustment and provide three phase sine wave impulse SPWM for inverter INV, PLC finishes the startup to electric motor system and governing system, and when governing system breaks down, the automatic switchover motor is to the full speed running state, in governing system just often, make motor put into speed governing operation fast again.
With reference to Fig. 7, in interior circular current control, the generation of the current peak two point form control of chopper IC and the SPWM pulse signal of inverter INV selects for use a slice FPGA of appropriate scale to realize.Wherein D/A is a digital to analog converter, and CP is a comparator, and MC is a down counter.
The generation of the input/output signal of current peak two point form control: the lime transducer LEM among the rotor current voltage acquisition UIM of system gathers rotor rectified current I
DR, gather rotor commutating voltage U by the high impedance difference channel
DR, the dc inversion voltage U
DDSP (or single-chip microcomputer) is for FPGA provides clock, the fuzzy/given I of pid control algorithm among the DSP (or single-chip microcomputer)
DR *After the current peak two point form processing of circuit of above-mentioned signal by D/A, CP and FPGA composition, obtain the pwm control signal of chopper switches pipe IGBT, and regulate duty ratio, thereby change the dc inversion voltage U according to the requirement of speed governing
DThe minimum service time t of chopper is provided by DSP (or single-chip microcomputer)
OnWith minimum turn-off time t
Off, produce and these two corresponding pulses of time by pulse generator, and carry out exporting the needed Current limited Control pulse of chopper after the logical operation with normal pulse signal.
The generation of inverter INV switching tube IGBT control impuls: by the phase place of detection of grid, produce three phase sine wave impulse SPWM control inverter INV, make inverter feedback electrical power by FPGA.
With reference to Fig. 8 a) and Fig. 8 b), in the oscillogram of current peak two point form control, when rotating speed is low, I
DRThe rate of rise little, and Δ U
cThan higher, U
cThe slope height that descends is like this by I
DRAnd U
cChange procedure in meet and can obtain an intersection point clearly; Opposite rotor voltage U
DRAll relatively lower high, I
DRThe rate of rise big, and Δ U
cLower, U
cThe slope that descends is low, like this by I
DRAnd U
cChange procedure in meet and equally also can obtain an intersection point clearly.So just can guarantee that no matter governing system is to be in low speed and high speed stage can both guarantee that speed regulation process carries out reliably.
With reference to Fig. 9, in inverter INV control principle figure, AUR is a direct current voltage regulator, i
PBe active current, i
QBe reactive power, I
P *Be given meritorious direct current, i
Q *Be given reactive current, U
D *Be direct voltage after the given copped wave, U
DBe feedback voltage after the copped wave.The control procedure of inverter is: direct voltage U after the given copped wave
D *, feedback voltage U
D, as rotor current I
DRIncrease U
DIncrease the given I of output active current of direct current voltage regulator AUR
P *Increase.Reactive current i
Q *Given is artificially to set as required, by regulating i
P, i
QAdjuster, coordinate transform make the meritorious and reactive power of output equal given, I
P *Increase, active power of output increases, capacitor C
DOn voltage U
DEqual set point again.
With reference to Figure 10, be controlled to be example with the hydraulic pressure of water pump, the speed regulating control process of motor is described.In two loop control theories of governing system, interior ring is a Current Control, adopts the control of current peak two point form to realize by FPGA, and outer shroud speed adopts fuzzy control/pid control algorithm to realize by DSP.Wherein, fuzzy control/pid control algorithm is stored among the DSP in advance, comprises FUZZY ALGORITHMS FOR CONTROL, pid algorithm and self-adjusting parameter fuzzy pid control algorithm, and which kind of control algolithm is system adopt according to the technology type and the duty parameter decision of input.The step of water pump hydraulic pressure control procedure is as follows: (1) is detected relatively by the hydraulic pressure of given hydraulic pressure and feedback, and consider parameters such as other technological parameter such as feedwater flow, steam flow, steam water-level, obtain the hydraulic pressure controlled quentity controlled variable by fuzzy logic, and obtain the given rotating speed of motor by fuzzy control/PID controller.(2) electromotor velocity curve RAMP is slope control, changes at motor speed adjusting process medium velocity and adopts the mode that slowly rises and slowly descend, and makes the rate of change di/dt of motor current and voltage and du/dt all not too large.(3) ASR is an automatic speed regulator, by integral element speed regulation process is steadily carried out, and sets upper current limit.(4) ACR is an automatic current regulator, adopts current peak two point form control method.(5) by the switching tube IGBT of FPGA output PWM control chopper, adjust the size of chopper output current and voltage, thereby realize speed governing.(6) by the phase place of detection of grid, produce SPWM pulse control inverter INV, make inverter feedback electrical power by FPGA.
With reference to Figure 11, the DSP of governing system possesses communication interface, RS232/RS485 is for to be used to realize the conversion to RS-485 by RS-232 by special industrial control module, can monitor the operation conditions of many governing systems simultaneously by industrial computer, can discern each governing system by address code.Can design an IP interface module with the DSP communication, make this governing system possess direct remote communications capability.Intranet is an enterprises lan, can realize the large-scale communication of enterprises by optical fiber and Ethernet technology, and the state that so just can directly exchange speed system at monitoring system center carries out remote monitoring.
With reference to Figure 12, adopt low voltage frequency converter to realize among the embodiment of digital intelligent control system of middle voltage electromotor speed governing in the present invention, implement the interior circular current control of chopper IC and the control of inverter INV by interior circular current controller NFC, by digital signal processor DSP governing system is implemented the outer shroud speed control, by the program control of described programmable controller PLC enforcement to governing system MSR and electric motor system MD.The step of governing system work is described in detail as follows: after the start of (1) governing system powered on, DSP started initialization subroutine self is carried out initialization, makes control system be in the preparation state.(2) screen displaying is started working, and the user can input operation information.(3) system program is transferred the parameter input subroutine, input technology type, technological parameter etc., and which kind of control algolithm is system adopt by integrated decision-making, as fuzzy control, PID control and fuzzy control.(4) by the entry into service of PLC control electric motor system; DSP judges by the digital signal that the A/D change-over circuit collected analog signal, PLC and obtain and the digital signal of other switching device output whether governing system is in normal operating conditions, if undesired then governing system is not worked, motor enters full speed running, in case normally can enter the speed governing state at any time.(5) after entering the speed governing state, control given motor speed I by fuzzy control/PID
*, steadily rise or descend by electromotor velocity curve RAMP control electromotor velocity.(6) interior circular current control system work, the LEM sensor acquisition rotor current I among the current/voltage acquisition system UIM
DR, gather rotor voltage U by the high impedance difference channel
DR(or directly test the speed by the pulse code-disc), dc inversion voltage U
D, respectively with I
*With I
DR, U
DRWith U
DCompare, control the PWM of given chopper by current regulator ACR by the peak current two point form.(7) by the phase place of detection of grid, produce SPWM pulse control inverter INV, make inverter feedback electrical power by FPGA.(8) DSP patrols and examines governing system, and whether the system of seeing exists faults such as overcurrent, overvoltage, overheated and phase shortage, then can not proceed speed governing operation if having; If break down, then governing system is protected, and forwarded to full speed running.(9) DSP also can provide protection to electric system and environment corollary equipment.
Adopt low voltage frequency converter to realize that governing system outer shroud speed control can adopt fuzzy control, PID control and self-adjusting parameter fuzzy PID controller among the embodiment of digital intelligent control system of middle voltage electromotor speed governing in the present invention.To be fuzzy control that dynamic response characteristic is good combine with the good PID control of steady-state response characteristic fuzzy controller, can give full play to advantage separately.Utilize Fuzzy parameter optimization technology, to the proportional gain k of PID controller
p, integration time constant k
iWith derivative time constant k
dCarry out online adjustment, thereby realize the Optimal Control of electric machine speed regulation process.With reference to Figure 13 a) and Figure 13 b), be controlled at the example that is applied as on the water pump hydraulic pressure with self-adjusting parameter fuzzy PID, this governing system control principle and software flow have been described.Can import technological parameter and select fuzzy controller by touch-screen; By the given motor speed curve of integrator Ramp, make slow liter of motor speed or slow falling; Measure rotating speed of motor or infer rotating speed of motor by the pulse code-disc by rotor voltage; Relatively give stator and rotor current by speed regulator ASR in the back with given rotating speed and actual speed, record the actual current of rotor by the LEM transducer, by relatively drawing the rotor current regulated quantity.Here mainly utilize the parameter of the online adjustment of fuzzy controller PID, can give full play to fuzzy control and PID control advantage separately.
The present invention adopts low voltage frequency converter to realize that the embodiment of the digital intelligent control system of middle voltage electromotor speed governing has made full use of the powerful internal memory extended capability of DSP, and the fuzzy controller and the parameter of passing through the relevant controlled device of technological experiment acquisition is stored in the ROM program area.As to blower fan, pump class etc. by the research that experimentizes of different size capacity, can obtain fuzzy controller and parameter under the different technology conditions, can select suitable controller and parameter according to the Be Controlled object in the control at the scene, make system can enter running status more stably at the very start.
With reference to Figure 14, in the parameter input-output subprogram of this governing system, can realize man-machine interaction by touch-screen, carry out the operations such as setting, selection control type, preservation and modification technological parameter of technological parameter.
With reference to Figure 15, in the troubleshooting and warning subprogram of this governing system, the fault of faults such as the overcurrent of governing system, overvoltage, overheated and phase shortage and motor and auxiliary system is handled, and demonstrated warning message.
Adopt low voltage frequency converter to realize that wherein digital signal processor DSP is replaceable is single-chip microcomputer among other embodiment of digital intelligent control system of middle voltage electromotor speed governing in the present invention.
Adopt low voltage frequency converter to realize that the embodiment of the digital intelligent control system of middle voltage electromotor speed governing is described in further details to the present invention below.
Be suitable for the present invention and four classes arranged: middle pressure conventional wound asynchronous motor with the drive motor of governing system; The middle internal feedback wire wound asynchronous motor of pressing; The middle pressure around the cage brushless double-fed motor; The middle cage internal feedback motor of pressing.
Embodiment 1:
With reference to Fig. 1, in the present embodiment, motor M is middle pressure conventional wound asynchronous motor.In main circuit, the additional winding AW of a cover three-phase is arranged, output 50Hz fixed voltage U in the internal feedback wire wound asynchronous motor stator
Aw,, accept the feedback electric current I for inverter INV usefulness
Aw, the no-reverse change power transformer.The internal feedback wire wound asynchronous motor does not need power transformer T, and major loop is the simplest, is that the present invention recommends preferred version.Wherein, CR is the chopped mode rectifier, and DR is the uncontrollable rectifier of three-phase, and IC is for adopting the chopper of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); INV is for adopting the inverter of IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.); Wherein, C
DBe INV storage capacitor, I
SBe motor stator currents, I
RBe motor rotor electric current, U
RBe motor rotor voltage, I
DRBe DR output DC stream, U
DRBe DR output dc voltage, I
DBe CR output current, U
DBe CR output voltage, I
AwBe INV output current, U
AwBe the INV output voltage.
Cascade adjustable-speed system is connected on rotor side, rotor voltage
U
R＝sU
R0
In the formula: s=(n
0-n)/n
0----slippage; U
R0For motor does not change, the rotor voltage of s=1 Time.
Piezoelectricity machine U in existing
R0＜1000V is when speed adjustable range is restricted to 50% (s≤0.5) Time, U
Rmax≤ 500V is so governing system is a low pressure.
The cascade adjustable-speed system main circuit is by a cover low voltage frequency converter, and frequency converter is the sinusoidal wave ac-dc-ac frequency converter of being made up of copped wave rectifier CR and general IGBT (or other can turn-off power electronic device, as IGCT, GTR etc.) inverter INV of voltage-type.CR is made up of a uncontrollable rectifier module D R of three-phase and cover IGBT (or other can turn-off power electronic device, as IGCT, GTR an etc.) copped wave module I C.The IC switching frequency is about industry 2kHz commonly used, can utilize the rotor leakage inductance to realize copped wave, does not need to add in addition or only need add very little direct current reactance.INV is a voltage source inverter, does not have reactance on dc bus, so native system has saved huge direct current reactor.The required energy storage electric energy of voltage source inverter is a dc capacitor, and volume is little, capacity is big, is contained in the general inverter.
Inverter INV is in order to the dc bus power P
D=U
DI
DBe recycled to motor stator and keep DC bus-bar voltage U
DFixing, rotor voltage after the DR rectification:
U
DR＝(1-D)U
D
D in the formula---copped wave duty ratio just can change rotor voltage U by changing D
R, realize speed governing.
Inverter and additional coil volume are pressed
Calculate.Most blower fans and load of the pumps are the quadratic form loads, I
R∝ n
2, when rotation speed n is high, I
RGreatly, U
RLittle, P
DNot quite; When n hangs down, I
RLittle, U
RGreatly, P
DAlso little; Maximum P
DAppear at
The time, P
Dmax=0.15P
N, consider that load is not strict secondary relation, equipment stays certain allowance, gets P
INV=(0.2～0.5) P
N, with (20%～50%) P
NThe P of the inverter control 100% of power
NThe power motor speed governing.
INV is sinusoidal wave SPWM inverter, output current I
AwNear sinusoidal wave, INV power is little in addition, the motor stator electric current I
SMiddle harmonic wave is very little, basically electrical network is not had influence.The idle of INV output can adjusted (comprising zero) arbitrarily between from the perception to the capacitive under the capacity enabled condition.At n=n
NThe time, U
R≈ 0, P
D≈ 0, and INV can provide the capacitive reactive power electric current of full capacity, and it is perceptual idle that part small electromotor excitation and rotor rectifying and changing phase produce, and makes total power factor be higher than the power factor of motor itself.At P
D=P
DmaxThe time, the idle of INV is zero, guarantees that operation is required meritorious.Because it is idle that INV does not produce perception, thus the power factor under all operating modes all than usefulness thyristor inversion height, harmonic wave is little.
Because U
DWith U
RmaxCan change by changing minimum duty cycle Dmin, and U
DSize does not influence INV capacity (U
DHigh, I
DLittle, P
DConstant), choose additional winding voltage and rotor voltage for design of electrical motor convenience (this two umber of turn seldom, difficult coupling) is provided.
In realizing speed closed loop control, the control of chopper is by speed outer shroud and electric current I
DRInterior ring two parts constitute.Because at different rotating speeds (different U
DR) under, the duty ratio D of chopper and dc inversion voltage U
DBetween relation be non-linear, usually, adopt current regulator realize in circular current control, cause the current response difference of the fast Time of different commentaries on classics, regulator parameter is adjusted difficult.If adopt the current hysteresis ring bang-bang controller realize in circular current control, can overcome non-linear effects, but the chopper switches frequency will change with rotation speed change, and underloading Dian stream Duan Xu Time bang-bang controller cisco unity malfunction.In an embodiment of the present invention, then adopt a kind of new Dian Liu Mine value two point form controller to realize interior circular current I
DRControl, it both can overcome the non-linear effects of boost chopper, need not to adjust dynamic parameter, and switching frequency is fixed, and Dian stream Duan Xu Time also can work.
With reference to Fig. 7 and Fig. 8, control in the oscillogram of k switch periods at the current peak two point form, each switch periods Kai Shi Time carves, and the triggering input S of R-S trigger FF receives a pulse signal, and R-S trigger FF output Q exports high level, copped wave pipe V
1Conducting, rectified current I
DRIncrease it and control voltage U
cAt comparator C P
1In compare,
U
c＝I
*+ΔU
c
In the formula: U
DRAnd U
DBe respectively commutating voltage and dc inversion voltage
L
DRIt is rectifying and wave-filtering inductance value (containing the motor leakage inductance)
I
*It is the electric current set-point
T is a switch periods
τ is Zhong the k switch periods between De Time, as t=kT Time, and τ=0; As t=(k+1) T Time, τ=T.
Work as I
DRIncrease to I
DR=U
cTime, comparator C P exports high level, delivers to the RESET input R of R-S trigger FF, and R-S trigger FF resets, copped wave pipe V
1Turn-off, finish until this switch periods.By this method control, electric current I in a switch periods
DRMean value equal electric current set-point I
*
With reference to Fig. 7, voltage differential signal U
D-U
DRFrom differential amplifier DA.Time clock signal clock delivers to down counter MC, and then the number in counter is 1-τ/T.After the number among the MC reduced to zero, its carry end sent a carry signal, and with its triggering input signal st as R-S trigger FF, MC Tong Time is back to full position, prepares the counting of the next switch periods of beginning.Number among the down counter MC and voltage difference analog signal U
D-U
DRMultiply each other in the D/A converter, D/A exports through the potentiometer dividing potential drop, if the dividing potential drop coefficient is T/2L
DR, then potentiometer is output as signal delta U
cΔ U
cWith the given signal I of electric current
*Addition gets control signal U
c, with U
cDeliver to comparator C P and current signal I
DRRelatively, comparator C P output reseting input signal rst to R-S trigger FF.
Embodiment 2:
With reference to Fig. 2, in the present embodiment, motor M is middle pressure internal feedback wire wound asynchronous motor.Adopt this scheme to need a power transformer T, its governing system is identical with embodiment 1.
Embodiment 3:
With reference to Fig. 3, in the present embodiment, motor M is that middle pressure is around the cage brushless double-fed motor.The rotor winding of this motor is not drawn, brushless and slip ring, two cover stator winding, one cover gets access to grid, and another set of slip power of drawing motor meets the uncontrollable rectifier DR of governing system, inverter INV is connected with electrical network, and the motor slip power is fed back to electrical network.Its governing system is identical with embodiment 1.
Embodiment 4:
With reference to Fig. 4, in the present embodiment, motor M is middle pressure cage internal feedback motor.The rotor winding of this motor is not drawn, and brushless and slip ring, stator are provided with internal feedback winding winding, two cover stator winding are arranged, draw the slip power of motor from a cover winding wherein, be rectified into direct current through the uncontrollable rectifier DR of governing system, inverter INV becomes to exchange and is connected with electrical network.Its governing system is identical with embodiment 1.
Employing low voltage frequency converter provided by the invention realizes that the digital intelligent control system of middle voltage electromotor speed governing has the following advantages:
1) means of communication flexibly: give full play to the numerically controlled ability to communicate of DSP, carry out communication, or built-in IP interface is realized telecommunication by its RS-232/RS485 serial port and upper management computer.In the communication that utilizes the RS232/RS-485 bus to carry out, a upper industrial computer IPC can carry out communication with many governing systems simultaneously, industrial computer IPC can realize telecommunication by intranet Intranet, thereby the state information at speed governing scene is passed to Surveillance center.In addition, consider the rapid enforcement at home and abroad of Ipv6 technology, this governing system has also designed the IP interface module, module adopts the universal industrial Ethernet chip, make the built-in IP function of module by Java embedded programming technology, thereby can make this governing system directly carry out telecommunication by Intranet.So just can carry out remote control, remote signalling, remote measurement to this governing system, unattended operation can directly monitor the running status of this governing system in Surveillance center.
2) good man computer interface: because DSP has user-machine interface flexibly, can carry out the parameter input and output by touch-screen etc. and show, as: the input technological parameter, select fuzzy Control and parameter, revise technological parameter, preserve result selected and that revise; Running status is replied, as starting, move and the arrival set-point; The dynamic demonstration of parametric plot in service is reported to the police and error message shows; The inquiry of governing system and motor data.
Various faults such as 3) perfect defencive function: in the governing system running, may run into load changing, it is too low motor speed to occur, and inverter output phase shortage and short circuit have a power failure suddenly, and the inverter heating is serious.After in this governing system, using the DSP Digital Control, can make full use of its powerful signals collecting and abundant digital I/O mouth, governing system and electric system are comprehensively monitored and protected.Adopting DSP also can make full use of its CAN fieldbus comes field apparatus to monitor.In the design of the failure diagnosis of DSP, monitor overcurrent, the overvoltage and overheated of inverter in real time by the running status of timing cruising inspection system, motor ventilation, lubricate ambient condition etc.When governing system broke down, DSP called corresponding troubleshooting subprogram, and transferred display subroutine to provide fault message.
The invention has the beneficial effects as follows:
● compare with existing stator side medium voltage frequency converter string adjusting system, adopt (20%～50%) P
NGeneral low-voltage Frequency Converter Control 100%P
NMiddle voltage electromotor is realized 40%～50% speed governing requirement of high-power blower and pump, has avoided the difficulty of medium voltage converter, and equipment is few, low price, and its price only is 30%～50% of a stator side medium voltage frequency converter price.
● compare with existing rotor-side thyristor inversion string adjusting system, saved huge direct current reactor or only needed very little direct current reactor, major loop is simple, the power factor height, and harmonic wave is little.
● China's annual energy output nearly 50% is used for blower fan and pump drives, they particularly the driving of high-power blower and pump change speed governing operation into from traditional constant speed, can save a large amount of electric energy (average 30%～40%) and fuel, improve environment, optimize technical process, improve product yield and quality and reduce maintenance, produce the huge social economic benefit.
● new current peak two point form controller is adopted in circular current control in the chopper, is characterized in:
Realize two point form control with the electric current peakedness ratio, replace current regulator and duty ratio D generator, be not subjected to the boost chopper non-linear effects, need not to adjust dynamic parameter, easy to use.Electric current I in a switch periods
DRMean value equal electric current set-point I
*In the underloading electric current I
DRDuan Xu Time, the controller endure.With zigzag control signal U
cAnd I
DRRelatively, all intersection point is clear and definite in whole ranges of speeds, and error is little.
● adopt the Fuzzy Logic in Intelligent control technology, and the digitizing technique that combines with FPGA, PLC of DSP, its outstanding feature is:
Built-in Fuzzy Logic in Intelligent control algolithm can solve the non-linear problem that maybe can't set up precise control model of electric machine speed regulation well; Have good man computer interface, can select suitable control algolithm and technological parameter according to technological requirement and field condition; Have means of communication flexibly, can realize the communication of governing system and upper managing computer, or directly connect remote monitoring and management with the center monitoring computer by built-in IP interface module by RS232/RS485; Have perfect defencive function, can pass through the rich data acquisition interface, speed governing and electric system and blower fan and pump class etc. are carried out on-site supervision and protection.
Claims (6)
1. adopt low voltage frequency converter to realize the digital intelligent control system of middle voltage electromotor speed governing, comprise electric motor system (MD) and governing system (MSR), it is characterized in that: described governing system (MSR) comprises the chopped mode rectifier (CR) that is connected on successively in the main circuit, inverter (INV) and power transformer (T), chopped mode rectifier (CR) is made up of uncontrollable rectifier of three-phase (DR) and chopper (IC), also comprise a digital signal processor (DSP) and interior circular current controller (NFC) that links to each other with described digital signal processor (DSP) and programmable controller (PLC), and by the interior circular current control of circular current controller (NFC) enforcement in described to governing system (MSR), by the outer shroud speed control of described digital signal processor (DSP) to governing system (MSR), by the program control of described programmable controller (PLC) enforcement, the steps include: governing system (MSR) and electric motor system (MD)
(1) described digital signal processor (DSP) starts initialization subroutine and self is carried out initialization, and system is in the preparation state;
(2) user is by touch-screen input operation information;
(3) call parameters input subroutine, input technology type, technological parameter determine to adopt any one control algolithm in fuzzy control, PID control and the fuzzy control;
(4) start programmable controller (PLC) control electric motor system (MD) running; Described digital signal processor (DSP) judges by acquired signal whether described governing system (MSR) is in normal operating conditions, if undesired then described governing system (MSR) is not worked, motor enters full speed running, in case normally enter speed regulating control at any time;
(5) start interior circular current control, described interior circular current controller (NFC) output is to the control signal (PWM) of described chopper (IC);
(6) start the outer shroud speed regulating control, control given motor speed by fuzzy control or PID, the control electromotor velocity steadily rises or descends;
(7) phase place of detection of grid produces sinusoidal wave pulse (SPWM) by circular current controller (NFC) in described and controls described inverter (INV), makes described inverter (INV) feedback electrical power;
(8) described digital signal processor (DSP) is patrolled and examined the fault whether described governing system (MSR) exists overcurrent, overvoltage, overheated and phase shortage, does not then keep speed governing operation if having; If break down, then described governing system (MSR) is protected, show dependent failure information, and switch to full speed running by the speed governing state;
(9) described digital signal processor (DSP) is implemented protection control to described electric motor system (MD) and environment corollary equipment.
2. employing low voltage frequency converter according to claim 1 is realized the digital intelligent control system of middle voltage electromotor speed governing, and wherein said interior circular current controller (NFC) comprises differential amplifier (DA), D/A converter, down counter (MC), comparator (CP) and output trigger (FF); Described governing system (MSR) is provided with rotor current voltage acquisition system (UIM), and lime transducer (LEM) is wherein gathered rotor rectified current (I
DR), resistor voltage divider circuit is gathered rotor commutating voltage (U
DR), voltage sampling circuit obtains feedback dc inversion voltage (U
D); In described the 6th step (6), described digital signal processor (DSP) provides clock, fuzzy/given (I of pid control algorithm
DR *), the minimum service time (t of chopper
On) and minimum turn-off time (t
Off), above-mentioned acquired signal is carried out after the logical operation control impuls (PWM) with the current peak two point form by circular current controller (NFC) in described, control the switching tube (IGBT) of described chopper (IC), regulate duty ratio, thereby change dc inversion voltage (U according to the requirement of speed governing
D).
3. employing low voltage frequency converter according to claim 1 and 2 is realized the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor (DSP) stores by touch-screen can realize man-machine interaction, and the setting, controller type of carrying out technological parameter selected, the preservation of technological parameter and revise the input-output subprogram of some operations.
4. employing low voltage frequency converter according to claim 3 is realized the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor (DSP) stores handles described governing system (MSR) overcurrent, overvoltage, overheated and open-phase fault, and the warning subprogram of described electric motor system (MD) and environment corollary equipment fault.
5. employing low voltage frequency converter according to claim 4 is realized the digital intelligent control system of middle voltage electromotor speed governing, wherein said digital signal processor (DSP) stores the supervisory routine by RS232/RS485 communication interface and/or CAN fieldbus and/or the computer-implemented telecommunication of IP interface and Surveillance center, and described Surveillance center computer directly carries out remote monitoring to the state of described governing system (MSR).
6. employing low voltage frequency converter according to claim 5 is realized the digital intelligent control system of middle voltage electromotor speed governing, and wherein said digital signal processor (DSP) replaces with single-chip microcomputer.
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| CN104570913B (en) * | 2015-01-13 | 2018-05-22 | 深圳市英威腾电气股份有限公司 | A kind of PLC control process methods of frequency converter |
| CN104836454A (en) * | 2015-04-09 | 2015-08-12 | 浙江新富凌电气股份有限公司 | Frequency converter with touch screen |
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Owner name: GUANGDONG HONOR EAST ENERGY CO., LTD. Free format text: FORMER OWNER: BEIJING HUANA ORIENTAL ENERGY TECHNOLOGY CO., LTD. Effective date: 20081024 |
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