CN100486103C - Control device and method for motor speed - Google Patents
Control device and method for motor speed Download PDFInfo
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- CN100486103C CN100486103C CNB2004100936677A CN200410093667A CN100486103C CN 100486103 C CN100486103 C CN 100486103C CN B2004100936677 A CNB2004100936677 A CN B2004100936677A CN 200410093667 A CN200410093667 A CN 200410093667A CN 100486103 C CN100486103 C CN 100486103C
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Abstract
This invention relates to a velocity control device and a method for a motor including a velocity calculation device separating a region that a rotor rotates a period into several regions to calculate velocities in them and seek the mean velocity to be compared with the velocities in the regions to get velocity fluctuations, a velocity fluctuation compensation device transmitting the output velocity fluctuation value to a velocity control device and then outputting the fluctuation values, a torque current instruction value generating device comparing the mean velocity with a velocity instruction value to output a torque current instruction value and a comparing device comparing the instruction value with the fluctuation compensation value and the actual torque current value to generate a final torque current value.
Description
Technical field
The present invention relates to a kind of speed control unit and method of motor.
Background technology
Generally, compressor is according to compress mode, and its part throttle characteristics is also different, particularly under the situation of Single RotaryCompressor mechanical rotation in the time of one week torque ripple very big, and velocity perturbation is also very big when adopting the general speed controller.
As shown in Figure 1, be that existing compressor is connected with the rotating shaft of motor, the center of rolling the center of ring and motor shaft is not point-blank.
As shown in Figure 2, in the time of machine operation, roll ring and also work simultaneously, when roll the ring mechanical type when rotating a circle compression work also carry out once, but as shown in Figure 3, produce very big torque ripple on the load of motor.
' θ ' angle among Fig. 3 is the mechanical type anglec of rotation, and the anglec of rotation and relation between the load fluctuation are that the position of electric machine rotational axis when following compressor to connect is relevant.
As shown in Figure 4, in the time of compressor operating under the state of HTHP, so can not use transducer.It is necessary not using transducer control under the situation of variable ratio frequency changer compressor, speed control unit is according to the motor difference of using, partial structurtes may be different, but comprise speed control substantially as shown in Figure 4, inside is provided with current controller, detects voltage or electric current in the time of the needs speed calculation.
Speed control unit as shown in Figure 4, the same with (a) of Fig. 3 have a very big part throttle characteristics, the fluctuation that equally produces speed with (b) of Fig. 3.Therefore produce vibrations and noise during control rate, also cause the problem that performance reduces.
In order to address the above problem, adopt compensated torque mode as shown in Figure 5 in the prior art, obtain part throttle characteristics in advance, make the question blank (LOOKUP TABLE) of corresponding this characteristic.
Like this, the general use at 120 degree zero of existing compensated torque mode handed on the BLDC motor of the mode that detects energising, spend zero 120 and hand under the situation of the mode that detects energising, only spend at interval and could detect according to the characteristic of compensated torque mode, so one-period can only compensate 6 times 60.
But when adopting question blank (LOOKUP TABLE) as shown in Figure 5, compensating action can only be arranged on appointed positions, so need to specify the reference position, at this moment the error of reference position can cause negative effect to whole compensated torque.
In order to address the above problem, utilize sinusoidal wave no transducer control mode to come calculating mean value, fluctuate with compensation speed.But utilize the mode of above-mentioned mean value compensation speed fluctuation can not calculate local accurate velocity compensation, as shown in Figure 6, though speed control is fine on the whole, local upward generation velocity perturbation causes vibrations.
When the speed calculation value was 22HZ, mechanical type rotated a circle, and kept 22HZ on the whole, but the velocity perturbation of part is very big in a week.
When adopting 4 utmost point motors, mechanical type rotates a circle and equals electronic type and rotate two circles, and at this moment, need know that local velocity perturbation just can better carry out velocity compensation.
Summary of the invention
In order to overcome the above-mentioned shortcoming that existing compressor compensated torque mode exists, the invention provides a kind of speed control unit and method of motor, the interval that rotor was rotated a circle in the phase is divided between several region, reckoning speed between several region, and obtain average speed in the reckoning speed between several region, in that the speed in above-mentioned average speed and each interval is compared, come the compensation speed fluctuation according to result relatively.
The speed control unit of motor of the present invention is:
A kind of speed control unit of motor, it is characterized in that, comprise that the interval that rotor was rotated a circle in the phase is divided between several region, the time that calculates each interval interior increase angle is calculated each overall travel speed, and obtain average speed in the reckoning speed between several region, and this average speed and each interval interior speed are compared the speed calculation device of obtaining velocity perturbation; Each overall travel speed fluctuation of exporting in this speed calculation device, by having the speed control of ratio and integrating function, the velocity perturbation compensation arrangement that the velocity perturbation value is exported again; Average speed and the speed value exported in this speed calculation device are compared,, export the torque current command value generation device of torque current command value according to relatively; Compare at this torque current command value and velocity perturbation offset and actual torque current value, produce the comparison means of final torque current value according to comparative result.
The speed control unit of aforesaid motor, wherein the speed calculation device calculates each time that increases angle in interval and calculates each overall travel speed.
The speed control unit of aforesaid motor, wherein the velocity perturbation compensation arrangement by having the speed control of ratio and integrating function, becomes the difference of average speed and each overall travel speed to the value of passing through and minimizes, again output speed oscillation compensation value.
The method for control speed of motor of the present invention is:
A kind of method for control speed of motor is characterized in that, comprising: the time that calculates each interval interior increase angle is calculated each overall travel speed, and utilizes each interval speed to obtain the process of average speed; Above-mentioned average speed and each overall travel speed are compared, calculate the process of velocity compensated value; Above-mentioned mean value and speed value are compared, calculate the process of torque current command value; Above-mentioned velocity perturbation offset and torque current command value and actual torque current value are compared, calculate final torque current value, again with the process of final torque current value compensation load.
The method for control speed of aforesaid motor wherein calculates each interval speed, comprises in the process of utilizing each interval speed to obtain average speed, calculates the time that each interval angle increases.
The method for control speed of aforesaid motor, wherein above-mentioned average speed and each overall travel speed are compared, the process that calculates velocity compensated value comprises, the speed control process and the value passed through become of the difference of average speed and each overall travel speed by having ratio and integrating function minimized, again the process of output speed oscillation compensation value.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is existing compressor arrangement schematic diagram.
Fig. 2 is the schematic diagram of compressor operating shown in Figure 1.
Fig. 3 is the figure of compressor load characteristic shown in Figure 1.
Fig. 4 is the module map to existing motor speed control device.
Fig. 5 is the schematic diagram of existing compensated torque mode.
Fig. 6 is the schematic diagram of existing velocity error embodiment.
Fig. 7 a is that the present invention obtains speed and average speed and detects each interval speed wave cardon in each interval.
Fig. 7 b is the present invention when load is arranged, and has the wave pattern of speed in mechanical type rotates a week.
Fig. 7 c is that the present invention adopts 4 utmost point motors initial angle to be decided to be the embodiment schematic diagram of ' 0 degree, 180 degree, 360 degree.
Fig. 8 is the module map of the speed control unit embodiment of motor of the present invention.
Fig. 9 is the workflow diagram of another embodiment of speed control unit of motor of the present invention.
The number in the figure explanation:
100. speed calculation device 200. velocity perturbation compensation section
300 torque current command value generating units, 400. comparators
Embodiment
Shown in Fig. 7 a, the present invention obtains speed in each interval and average speed just can detect each interval velocity perturbation, and can be to each interval compensation speed fluctuation.
Shown in Fig. 7 b, when load is arranged, in rotating a week, mechanical type has the fluctuation of speed, when calculate the position, it is different that angle is increased in each interval interior increment rate, and according to special angle interval five equilibrium, the time that calculating each interval angle again increases is calculated the speed that each is interval.
Shown in Fig. 7 c, be to adopt 4 utmost point motors initial angle to be decided to be ' 0 degree, 180 degree, 360 degree ' an embodiment.Produce 4 intervals in one-period at mechanical type, carry out subtraction in corresponding each interval speed with the mean value of obtaining in whole interval and calculate velocity perturbation in each interval, so can carry out velocity compensation according to the present invention, in Fig. 8 and Fig. 9, describe in detail.
As shown in Figure 8, the present invention is that the interval that increases on the basis of module as shown in Figure 4 in the phase that rotor rotated a circle is divided between several region, reckoning speed between several region, and obtain average speed in the reckoning speed between several region, above-mentioned average speed and each interval interior speed are compared the speed calculation device (100) of obtaining velocity perturbation; Again each overall travel speed fluctuation of output in the above-mentioned speed calculation device (100), by having the speed control of ratio and integrating function, again the velocity perturbation compensation section (200) of velocity perturbation value output; The average speed and the speed value of output in the above-mentioned speed calculation device (100) are compared,, export the torque current command value generating unit (300) of torque current command value according to relatively; Compare at above-mentioned torque current command value and velocity perturbation offset and actual torque current value, produce the comparator (400) of final torque current value according to comparative result.
The following describes the process of velocity compensation work of the present invention.
At first, speed calculation device (100) between several region in reckoning speed, and obtain average speed in the reckoning speed between several region, the difference of this average speed and each overall travel speed is calculated obtained velocity perturbation again.
Above-mentioned speed calculation device (100) is determined interval number according to the number of poles of motor, and calculates each time that increases angle in interval and calculate each overall travel speed.
Velocity perturbation compensation section (200) is each overall travel speed fluctuation of output in the speed calculation device (100), by having the speed control of ratio and integrating function, output speed oscillation compensation value.
Just, velocity perturbation compensation section (200) becomes the difference of average speed and each overall travel speed to minimize by having the speed control of ratio and integrating function, make the value of passing through, again output speed oscillation compensation value.
Torque current command value generating unit (300) compares the average speed and the speed value of output in the above-mentioned speed calculation device (100) in addition, according to result relatively the torque current command value is input on the comparator (400), then, comparator (400) carries out additional calculation to above-mentioned torque current command value and velocity perturbation offset and actual torque current value, is input to current controller (not shown) according to the final torque current command value that calculates and compensates load.
As shown in Figure 9, at first calculate each interval speed (SP1), utilizing each interval speed calculation average speed (SP2), then calculate the time that each each interval angle increases again.
Then above-mentioned mean value and each overall travel speed are compared, velocity perturbation offset (SP3) is calculated out in calculating according to comparative result, then, the difference of average speed and each overall travel speed is by having the speed control of ratio and integrating function, the value of passing through become minimize, again output speed oscillation compensation value.
Next step, be that above-mentioned average speed and speed value are compared, calculate torque current command value (SP4) according to comparative result, again above-mentioned torque current command value and velocity perturbation offset and actual torque current value are carried out additional calculation afterwards, be input to current controller according to the final torque current command value (SP5) that calculates and compensate load (SP6).
The speed control unit of motor of the present invention and method are that the interval that rotor rotated a circle in the phase is divided between several region, reckoning speed between several region, and obtain average speed in the reckoning speed between several region, obtaining the poor of above-mentioned average speed and each speed in interval, the fluctuation that comes compensation speed according to the difference of speed.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, every foundation technical spirit of the present invention all still belongs in the scope of technical solution of the present invention any simple modification, equivalent variations and modification that above embodiment did.、
The present invention has following effect:
The present invention is divided into several intervals to the interval of rotor in one cycle, reckoning speed in several are interval, and several interval speed of calculating are obtained average speed, above-mentioned average speed and each interval interior speed are compared, come the fluctuation of compensation speed according to result relatively, therefore avoid velocity perturbation, can improve control rate.
Claims (6)
1, a kind of speed control unit of motor, it is characterized in that, comprise that the interval that rotor was rotated a circle in the phase is divided between several region, the time that calculates each interval interior increase angle is calculated each overall travel speed, and obtain average speed in the reckoning speed between several region, and this average speed and each interval interior speed are compared the speed calculation device of obtaining velocity perturbation;
Each overall travel speed fluctuation of exporting in this speed calculation device, by having the speed control of ratio and integrating function, the velocity perturbation compensation arrangement that the velocity perturbation value is exported again;
Average speed and the speed value exported in this speed calculation device are compared,, export the torque current command value generation device of torque current command value according to relatively;
Compare at this torque current command value and velocity perturbation offset and actual torque current value, produce the comparison means of final torque current value according to comparative result.
2, the speed control unit of motor according to claim 1 is characterized in that,
Above-mentioned speed calculation device calculates each time that increases angle in interval and calculates each overall travel speed.
3, the speed control unit of motor according to claim 1 is characterized in that,
Above-mentioned velocity perturbation compensation arrangement by having the speed control of ratio and integrating function, becomes the difference of average speed and each overall travel speed to the value of passing through and minimizes, again output speed oscillation compensation value.
4, a kind of method for control speed of motor is characterized in that, comprising:
The time that calculates each interval interior increase angle is calculated each overall travel speed, and utilizes each interval speed to obtain the process of average speed;
Above-mentioned average speed and each overall travel speed are compared, calculate the process of velocity compensated value;
Above-mentioned mean value and speed value are compared, calculate the process of torque current command value;
Above-mentioned velocity perturbation offset and torque current command value and actual torque current value are compared, calculate final torque current value, again with the process of final torque current value compensation load.
5, the method for control speed of motor according to claim 4 is characterized in that,
Each interval speed of aforementioned calculation comprises in the process of utilizing each interval speed to obtain average speed, calculates the time that each interval angle increases.
6, the method for control speed of motor according to claim 4 is characterized in that,
Above-mentioned average speed and each overall travel speed are compared, and the process that calculates velocity compensated value comprises,
The speed control process and the value passed through become of the difference of average speed and each overall travel speed by having ratio and integrating function minimized, again the process of output speed oscillation compensation value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100936677A CN100486103C (en) | 2004-11-29 | 2004-11-29 | Control device and method for motor speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100936677A CN100486103C (en) | 2004-11-29 | 2004-11-29 | Control device and method for motor speed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1783696A CN1783696A (en) | 2006-06-07 |
| CN100486103C true CN100486103C (en) | 2009-05-06 |
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| CNB2004100936677A Expired - Fee Related CN100486103C (en) | 2004-11-29 | 2004-11-29 | Control device and method for motor speed |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRPI0902349A2 (en) * | 2009-07-22 | 2011-08-23 | Whirlpool Sa | control method for electric motors applied to cyclic loads |
| BRPI0902347A2 (en) * | 2009-07-22 | 2011-04-05 | Whirlpool Sa | anticipatory control method for electric motors applied to cyclic loads |
| CN105515484B (en) * | 2016-01-14 | 2018-09-25 | 广东美芝制冷设备有限公司 | The suppressing method and device and compressor control system of the rotary vibration of compressor |
| CN110535376B (en) * | 2019-09-25 | 2020-11-27 | 国家电网有限公司 | Method for controlling rotating speed of static frequency converter in pulse commutation stage |
| CN112865659B (en) * | 2019-11-12 | 2022-04-19 | 杭州先途电子有限公司 | Torque compensation control method, system and controller |
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