CN100361383C - Synchronous motor excitation invariable power angle closed-loop auto-regulation method and its regulating device - Google Patents
Synchronous motor excitation invariable power angle closed-loop auto-regulation method and its regulating device Download PDFInfo
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- CN100361383C CN100361383C CNB2005100127268A CN200510012726A CN100361383C CN 100361383 C CN100361383 C CN 100361383C CN B2005100127268 A CNB2005100127268 A CN B2005100127268A CN 200510012726 A CN200510012726 A CN 200510012726A CN 100361383 C CN100361383 C CN 100361383C
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Abstract
The present invention relates to a synchronous motor excitation invariable power angle theta closed-loop automatic regulating method and a regulating device thereof. The present invention has the automatic regulating method that stator voltage and stator current are collected by a micro processor, an excitation power angle theta is calculated, and the output of a regulator and a control angle of a controlled silicon in a rectifying bridge are changed by an SCM in the regulator according to the angle theta; thereby, the excitation current of a rotor of a synchronous motor is changed. The automatic regulating device of the present invention is composed of a stator voltage sensor, a stator current sensor, an analog-digital converter, a microprocessor, a regulator and an executive circuit, wherein both input ends of the analog-digital converter are respectively connected with the output ends of the stator voltage sensor and the stator current sensor, and the output end of the analog-digital converter is connected with the input end of the microprocessor; the output end of the microprocessor is connected with the input end of the regulator, the output end of the regulator is connected with the executive circuit, and the output end of the executive circuit is connected with an excitation winding of the rotor of the synchronous motor. The method of the present invention has the advantage that the method is an azimuthal regulating mode which performs the effects to all interference factors which influence the stable operation of the synchronous motor.
Description
Technical field
The present invention relates to a kind of synchronous motor excitation invariable power angle closed-loop Automatic adjustment method.
Background technology
The automatic regulative mode of synchronous motor excitation mostly adopts following several: constant flow regulation, constant power factor are regulated, permanent reactive power is regulated and encourage adjusting etc. by force with the stator voltage fluctuation is stepless.The application of above-mentioned regulative mode in different field to improving the stability of synchronous motor operation, played certain effect.But because the limitation of above-mentioned regulative mode application principle, so specific to a certain regulative mode, it only is applicable to a certain interference sudden change of load (as drag), and powerless for other interference (as the stator voltage bust), so their regulating action is single, local.
At present the most frequently used regulative mode be constant flow regulation as interior ring, power factor is regulated the two closed-loop adjustment modes as outer shroud.Its advantage is that interior ring can improve the rapidity that excitation system is regulated, and can regulate excitation rapidly when its voltage fluctuation of exciting voltage.Outer shroud can fully guarantee the constant operation of power factor when motor load fluctuation or voltage ripple of power network.Should this be a more outstanding regulative mode.But it has a fatal weakness, is exactly when synchronous motor stator voltage bust moment, because power factor is more leading, under the effect of outer shroud, exciting current will have a process that reduces, and this makes the matter worse beyond doubt, will have a negative impact to the stability of synchronous motor.
Summary of the invention
Technical problem to be solved by this invention provides a kind of synchronous motor excitation invariable power angle closed-loop Automatic adjustment method that all disturbing factors that influence synchronous motor stable operation are all worked.
The technical solution adopted for the present invention to solve the technical problems:
One, a kind of synchronous motor excitation invariable power angle closed-loop Automatic adjustment method:
(1) input step:
Excitation merit angle θ during the specified operation of synchronous motor
0Press the single-chip microcomputer in the initial method input regulator, with benchmark as a comparison;
(2) data acquisition step:
Gather in real time stator voltage U that obtains by stator voltage transducer and stator current transducer after the analog to digital converter conversion and the digital signal of stator current I by microprocessor:
(3) calculation procedure of excitation merit angle θ:
Calculate excitation merit angle θ by microprocessor with fourier algorithm or by following formula (G);
In the formula, is the angle of stator voltage U and stator current I, K=U/I;
(4) press deviation delta θ=θ-θ by the single-chip microcomputer in the adjuster
0Silicon controlled pilot angle α angle in the output of change adjuster and the rectifier bridge in the executive circuit, thus the synchronous electric motor rotor exciting current changed.
Two, realize the isolated plant of the inventive method:
Automatic regulating equipment of the present invention is made up of stator voltage transducer, stator current transducer, analog to digital converter, microprocessor, adjuster, executive circuit, two inputs of analog to digital converter connect the output of stator voltage transducer and stator current transducer respectively, the input of the output termination microprocessor of analog to digital converter, the input of the output termination adjuster of microprocessor, the output of adjuster is connected with executive circuit, and the output of executive circuit is connected with the synchronous electric motor rotor excitation winding.
Beneficial effect of the present invention is as follows:
(1) it has overcome the shortcoming that present the most frequently used " two closed-loop adjustment mode " exists, no matter be the sudden change that drags load, or the sudden change of line voltage, it regulates direction all is to increase the synchronous motor stability.
(2) it is a kind of omnibearing regulative mode that all disturbing factors that influence synchronous motor stable operation are all worked, thereby realizes the stability of omnibearing raising synchronous motor operation.
Description of drawings
Fig. 1 is a theory diagram of the present invention.
Fig. 2 is the collection of excitation merit angle θ and the circuit theory diagrams of calculating.
Fig. 3 is the circuit theory diagrams of adjuster.
Fig. 4 is the circuit theory diagrams of executive circuit.
Fig. 5 is synchronous motor (non-salient pole machine) equivalent circuit diagram.
Fig. 6 is the electromotive force vectogram of equation (1).
Embodiment
One, synchronous motor excitation invariable power angle closed-loop Automatic adjustment method:
(1) input step:
Excitation merit angle θ during the specified operation of synchronous motor
0Press the single-chip microcomputer in the initial method input regulator, with benchmark as a comparison;
(2) data acquisition step:
Gather in real time stator voltage U that obtains by stator voltage transducer and stator current transducer after the analog to digital converter conversion and the digital signal of stator current I by microprocessor:
(3) calculation procedure of excitation merit angle θ:
Calculate excitation merit angle θ by microprocessor with fourier algorithm or by following formula (G);
In the formula, is the angle of stator voltage U and stator current I, K=U/I;
(4) press deviation delta θ=θ-θ by the single-chip microcomputer in the adjuster
0Silicon controlled pilot angle α angle in the output of change adjuster and the rectifier bridge in the executive circuit, thus the synchronous electric motor rotor exciting current changed.
The operation principle of Automatic adjustment method of the present invention:
No matter the synchronous motor operation stability is steady stability, transient stability or dynamic stability all be and synchronous motor excitation merit angle θ (being angle between the synchronous motor rotor magnetic pole center line) has substantial connection.Synchronous motor is when specified operation, the θ angle is usually about 30 ° of electrical degrees, when operating synchronous motor is subjected to certain interference, reduce or technology load when increasing suddenly such as line voltage moment, the excitation merit angle θ of motor also increases thereupon, when the θ angle of non-salient pole synchronous motor surpasses 90 °, when the θ angle of salient-pole synchronous motor surpasses 60 °～70 °, as not taking strong measure, the just inevitable step-out of synchronous motor.So stablizing the key point of synchronous motor operation says so and will stablize the θ angle.If give suitable compensation to improve the electromotive force of motor for when the θ angle changes the rotor-exciting of motor, this has crucial meaning to stablizing the synchronous motor operation.By non-salient pole synchronous motor formula P
T=(m * U * E
0/ X
C) * sin θ as can be known (in the formula, m is the number of phases,
Be stator voltage,
Be motor no-load emf, X
CBe synchronous reactance), if, keep motor power (output) P because of line voltage U descends
TConstant, if improve no-load emf E automatically
0, just can guarantee that the θ angle is constant substantially.When synchronous machine moves, detect θ angle and input microprocessor feed back to adjuster after calculation process input and given θ in real time
0Compare, its deviation delta θ will change the output and the rectifier bridge silicon controlled pilot angle α angle of adjuster, thereby change the exciting current of motor rotor.Realize the automatic adjusting (see figure 1) of motor excitation merit angle θ.
Realize the automatic adjusting of excitation merit angle θ, key is how the merit angle θ of synchronous motor in service to be detected in real time.What the present invention adopted is indirect measurement method.According to the equivalent circuit (see figure 5) of non-salient pole synchronous motor, can obtain following electromotive force equation (1).
In the formula
X
C: synchronous reactance
X
C＝X
S+X
A
X
S: stator leakage reactance
X
A: the reactance of armature reaction.
The electromotive force vectogram of above-mentioned equation (1) is Fig. 6.
In Fig. 6,
With
Between angle be motor excitation merit angle θ, by synchronous motor stator running current I and stator voltage U are carried out after the AC sampling again through A/D conversion, fourier algorithm just can be regarded as the θ angle.
In Fig. 6,
With
Between angle be power-factor angle , can directly calculate real-time angle by the single-chip microcomputer U1 of microprocessor, calculating excitation merit angle θ by above-mentioned formula (G).
Two, the embodiment of automatic regulating equipment of the present invention:
This automatic regulating equipment is made up of stator voltage transducer, stator current transducer, analog to digital converter, microprocessor, adjuster, executive circuit, two inputs of analog to digital converter connect the output of stator voltage transducer and stator current transducer respectively, the input of the output termination microprocessor of analog to digital converter, the input of the output termination adjuster of microprocessor, the output of adjuster is connected with executive circuit, and the output of executive circuit is connected with the synchronous electric motor rotor excitation winding.
The stator voltage transducer of present embodiment is made up of current transformer PT1, transformer PT2, resistance R 1, potentiometer RW1, the B ' that current transformer PT1 elementary connects the electrical network that is connected with synchronous motor stator TD1 mutually and C ' phase, elementary and the resistance R 1 of transformer PT2 back secondary in parallel with current transformer PT1 of connecting, potentiometer RW1 is secondary in parallel with transformer PT2's; The stator current transducer is made up of current transformer CT1, transformer CT2, potentiometer RW2, current transformer CT1 is connected mutually with the inlet wire A ' of stator TD1 according to a conventional method, transformer CT2's is elementary in parallel with current transformer CT1, and potentiometer RW2 is secondary in parallel with transformer CT2's; Analog to digital converter is made up of integrated package U5, and input 1,2 pin of integrated package U5 connect the swing arm of potentiometer RW2 and RW1 respectively.
The microprocessor of present embodiment is made up of single-chip microcomputer U1 and peripheral cell crystal X1, capacitor C 1-C3, resistance R 2, data latches U2, program storage U3, address latch U4, not gate U6D-U6F or door U7A-U7D; Be connected by bus between single-chip microcomputer U1, data latches U2, program storage U3, address latch U4, the analog to digital converter U5; Output 46 pin of single-chip microcomputer U1 connect 20 pin of program storage U3 through not gate U6D; Output 61 pin of single-chip microcomputer U1 connect 22 pin or 9 pin of door U7C or 5 pin of door U7B of program storage U3 respectively; 62 pin of single-chip microcomputer U1 connect 11 pin of data latches U2; Output 45 pin of single-chip microcomputer U1 connect respectively or 1 pin of door U7A and 13 pin of U7D through not gate U6F; 6 pin of data latches U2 connect 11 pin of not gate U6E or 12 pin of door U6D respectively; Output 10 pin of not gate U6E connect or the door U7A 2 pin; Or output 3 pin of door U7A connect or 4 pin of door U7B; Or 1 pin of the output 6 pin ground connection location latch U4 of door U7B; Or output 11 pin of door U7D connect respectively or 10 pin of door U7C and 7 pin of analog to digital converter U5; Or 11 pin of the output 8 pin difference ground connection location latch U4 of door U7C and 6 pin of analog to digital converter U5.
The adjuster of present embodiment is made up of single-chip microcomputer U8 and peripheral cell crystal X2, capacitor C 4-C6, resistance R 9, thyristor gating circuit, slippage signal input circuit, zero-pressure demagnetization signal output apparatus; Input 21 pin of single-chip microcomputer U8 connect output 18 pin of single-chip microcomputer U1; Thyristor gating circuit is made up of Schmidt trigger U9A-U9F, photoelectrical coupler U10A-U10F and peripheral cell resistance R 10-R15, operational amplifier U11, pulse transformer B1-B6 and peripheral cell diode D1-D18, resistance R 3-R8; The input of Schmidt trigger U9A-U9F connects output 28,29,34,35,26,27 pin of single-chip microcomputer U8 respectively, the output of Schmidt trigger U9A-U9F connects the negative pole of the light-emitting diode of photoelectrical coupler U10A-U10F respectively, the positive pole of the light-emitting diode of photoelectrical coupler U10A-U10F connects+5V through resistance R 10-R15 respectively, the emitter output of photoelectrical coupler U10A-U10F connects input 7,6,5,4,3,2 pin of operational amplifier U11 respectively, and the collector electrode of photoelectrical coupler U10A-U10F connects respectively+7V; The output 10-15 pin of operational amplifier U11 connects the elementary end of pulse transformer B1-B6 respectively, another termination+7V of pulse transformer B1-B6, the secondary forward output of pulse transformer B1-B6 meets output Z1, Z3, Z5, Z6, Z7, Z9 respectively after being serially connected with a diode and a resistance respectively successively;
The slippage signal input circuit is made up of photoelectrical coupler U12A, resistance R 16-R18, capacitor C 7, C8, diode D19, voltage stabilizing didoe DW1; The input Z11 of slippage signal connects the positive pole of the light-emitting diode of photoelectrical coupler U12A successively through diode D19, resistance R 18, R17, the input Z12 of slippage signal connects the negative pole of the light-emitting diode of photoelectrical coupler U12A, be connected between the node and Z12 of resistance R 17 and R18 after voltage stabilizing didoe DW1 and capacitor C 8 are in parallel, the collector electrode output of photoelectrical coupler U12A connects 25 pin of single-chip microcomputer U8, the grounded emitter of photoelectrical coupler U12A, the collector electrode of photoelectrical coupler U12A connects+5V through resistance R 16;
Zero-pressure demagnetization signal output apparatus is made up of photoelectrical coupler U12B, transistor U13, relay J 1, J2, resistance R 19, sustained diode 20; The negative pole of the light-emitting diode of photoelectrical coupler U12B connects 24 pin of single-chip microcomputer U8, the positive pole of the light-emitting diode of photoelectrical coupler U12B connects+5V through resistance R 19, the base stage of transistor U13 connects the emitter of photoelectrical coupler U12B, the grounded emitter of transistor U13, the collector electrode of transistor U13 connects the collector electrode of photoelectrical coupler U12B through relay J 1, and the collector electrode of photoelectrical coupler U12B connects+7V; Relay J 2 with connect～220V after the normally opened contact J1-1 of relay J 1 connects; Normally opened contact J2-1, the J2-2 of relay J 2 controls the break-make that slippage is thrown the output Z13 and Z16 and Z14 and the Z15 that encourage signal respectively.
The executive circuit of present embodiment is made up of controllable silicon major loop and protective circuit thereof, demagnetization circuit, and controllable silicon major loop and protective circuit thereof are made up of three-phase transformer B0, controllable silicon 1KG-6KG, resistance R 24-R32, capacitor C 11-C19; Controllable silicon 1KG-6KG forms the three-phase controllable silicon rectifier bridge, the output termination synchronous electric motor rotor excitation winding TD2 of three-phase controllable silicon rectifier bridge, and the input termination three-phase transformer B0's of three-phase controllable silicon rectifier bridge is secondary;
The control utmost point Z1 of controllable silicon 1KG-6KG, Z3, Z5, Z6, Z8, Z9 meet forward output Z1, Z3, Z5, Z6, Z8, the Z9 of pulse transformer B1-B6 respectively; The negative electrode of controllable silicon 1KG, 3KG, 5KG meets the negative sense common output end Z2 of pulse transformer B1, B3, B5, and the negative electrode of controllable silicon 4KG, 6KG, 2KG meets negative sense output Z7, Z10, the Z4 of pulse transformer B2, B6, B4 respectively;
The conventional demagnetization circuit that demagnetization circuit is made up of controllable silicon 7KG, 8KG, de-excitation resistance RF1, RF2, resistance R 20-R23, potentiometer RW3, RW4, capacitor C 9, C10, diode D21-D23, voltage stabilizing didoe DW2, DW3, interlock field suppression switch AN1, AN2; It is in parallel after de-excitation resistance RF2, controllable silicon 8KG, 7KG, de-excitation resistance RF1 connect successively with synchronous electric motor rotor excitation winding TD2, after connecting successively, resistance R 21, potentiometer RW4, resistance R 20, potentiometer RW3 be connected between node H1 and the node H2, node H1 is the node of de-excitation resistance RF2 and controllable silicon 8KG, node H2 is the node of controllable silicon 7KG and de-excitation resistance RF1, and the swing arm of potentiometer RW4 connects the negative electrode of controllable silicon 8KG; Between the control utmost point of voltage stabilizing didoe DW3 and node that is connected on resistance R 21 and current potential RW4 after diode D22 connects and controllable silicon 8KG, between the control utmost point of voltage stabilizing didoe DW2 and node that is connected on resistance R 20 and potentiometer RW3 after diode D21 connects and controllable silicon 7KG, the swing arm of potentiometer RW3 meets node H2, and two ends Z11, the Z12 of de-excitation resistance RF1 is the slippage signal output part; Between the positive pole of resistance R 22 and anode that is connected on controllable silicon 7KG after field suppression switch AN1 connects and voltage stabilizing didoe DW2; Between the positive pole of resistance R 23 and anode that is connected on controllable silicon 8KG after field suppression switch AN2 connects and voltage stabilizing didoe DW3; Sustained diode 23 is connected between node H1 and the H2;
Input Z14, the Z15 of zero-pressure demagnetization signal are in parallel with field suppression switch AN1, and input Z13, the Z16 of zero-pressure demagnetization signal are in parallel with field suppression switch AN2.
The operation principle of automatic regulating equipment of the present invention is as follows:
Stator voltage instrument transformer and stator current instrument transformer are delivered to analog to digital converter U5 to the stator voltage U and the stator current I that collect, send into the single-chip microcomputer U1 of microprocessor after the A/D conversion, draw merit angle θ through fourier algorithm; The single-chip microcomputer U1 of microprocessor delivers to merit angle θ value by serial port communication the single-chip microcomputer U8 (output 18 pin of U1 are seen Fig. 2,3 to input 21 pin of U8) of adjuster.
θ that the single-chip microcomputer U8 of adjuster will collect in real time and given θ
0Compare its deviation delta θ=θ-θ
0The output of single-chip microcomputer U8 will be changed, output 28,29,34,35,26,27 pin of U8 six the tunnel are exported respectively after Schmidt trigger U9A-U9F shaping totally,, respectively the control utmost point of the controllable silicon 1KG-6KG of rectifier bridge is controlled at last successively through photoelectrical coupler U10A-U10F, operational amplifier U11, pulse transformer B1-B6 respectively.
Because according to the pilot angle α angle of Δ θ real time altering controllable silicon 1KG-6KG, thereby change the exciting current of synchronous electric motor rotor excitation winding TD2, realized the automatic adjusting of motor excitation merit angle θ.
The course of work of demagnetization circuit is as follows:
This preceding section encouraged in the period to throwing in synchronous motor starting back, controllable silicon 1KG-6KG in the rectifier bridge is in blocking state, in starting process, the alternating voltage that rotor-exciting winding TD2 is induced, this voltage does not reach the turn-on voltage of demagnetization controllable silicon 7KG, 8KG during beginning, being equivalent to the excitation winding open circuit starts, induced voltage sharply rises, when the induced voltage instant value rises to the conducting voltage of demagnetization controllable silicon 7KG, 8KG, 7KG, 8KG conducting work insert de-excitation resistance RF1, RF2.When this half-wave finishes, demagnetization controllable silicon anode voltage zero passage and turn-offing voluntarily.
The effect of potentiometer RW3, RW4 is to change 7KG, 8KG turn-on voltage.The function of interlock field suppression switch AN1, AN2 is: under lower VD, press this switch, and demagnetization controllable silicon 7KG, 8KG conducting, whether be used to detect the demagnetization link normal.
Synchronous motor is in the whole process that starts, and the frequency of its rotor-exciting winding TD2 induction variable voltage reduces with the acceleration of rotor.Single-chip microcomputer U8 gathers the frequency signal (being the slippage signal) of rotor alternating voltage induced by Z11, Z12, and after it satisfied certain condition, single-chip microcomputer U8 sent trigger impulse, thereby puts into excitation, and pulls motor into synchronous operation.
The effect of relay J 1, J2: when motor start-up, the zero-pressure demagnetization is carried out in single-chip microcomputer U8 control relay J1, J2 adhesive; When collecting the slippage signal, single-chip microcomputer U8 disconnects relay J 1, J2, carries out the slippage throwing then and encourages.
Claims (1)
1, a kind of synchronous motor excitation invariable power angle closed-loop Automatic adjustment method is characterized in that:
(1) input step:
Excitation merit angle θ during the specified operation of synchronous motor
0Press the single-chip microcomputer in the initial method input regulator, with benchmark as a comparison;
(2) data acquisition step:
Gather in real time stator voltage U that obtains by stator voltage transducer and stator current transducer after the analog to digital converter conversion and the digital signal of stator current I by microprocessor;
(3) calculation procedure of excitation merit angle θ:
Calculate excitation merit angle θ by microprocessor with fourier algorithm or by following formula (G);
In the formula, is the angle of stator voltage U and stator current I, K=U/I;
(4) press deviation delta θ=θ-θ by the single-chip microcomputer in the adjuster
0Silicon controlled pilot angle α angle in the output of change adjuster and the rectifier bridge in the executive circuit, thus the synchronous electric motor rotor exciting current changed.
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| CNB2005100127268A CN100361383C (en) | 2005-08-08 | 2005-08-08 | Synchronous motor excitation invariable power angle closed-loop auto-regulation method and its regulating device |
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