CN101471623B - Chopping type bumpless switching bis-PLC intelligent speed-governing system of medium-pressure motor - Google Patents
Chopping type bumpless switching bis-PLC intelligent speed-governing system of medium-pressure motor Download PDFInfo
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Abstract
A dual PLC intelligent speed regulating system with chopping-type non-disturbance switching for medium-voltage motors includes an uncontrollable rectifier, a boost chopper, and an IGBT inverter. The boost chopper and the IGBT inverter are controlled via two inner-loop current controllers respectively, and two PLC control the outer-loop speed of the regulating system and the outer-loop voltage of the inverter respectively, as well as perform the program control to the speed regulating system and a motor system. The system suitable for ordinary winding asynchronous motors, internal feedback winding asynchronous motors, cage brushless doubly-fed motors and cage internal feedback brushless motors completely solves the problem of equipment damage caused by inversion stalling due to grid failures, and has incremental enhancement of various performance; the non-disturbance switching can be realized either from a full speed to a regulated speed or from the regulated speed to the full speed; and the motor even in the event of a regulating system failure can have continuous speed regulating operation. The system has the advantages of high system reliability, low control error, easy and convenient operation, good man-machine interface, and flexible method of communication. The remote supervision and management can be served, and the high degree of digitalization can be achieved with low cost, low energy consumption, and good environmental protection.
Description
Technical field
The present invention relates to ac motor speed control control technology field, particularly a kind of middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device.
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 hydraulic pressure regulates, 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. be the popularization and application of digital control chip of representative and middle and high shelves PLC control system go deep into the perfect day by day of Application and Development and Fuzzy Logic in Intelligent control strategy, for the digital intelligent chemical control system of middle pressure AC asynchronous motor speed governing lays the foundation.
Zhong the ac motor speed control control system ， Now have 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).
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 is big, is motor rated power P
NAbout 1.2 times, the voltage of transformation height needs many power electronic device series connection, system is huge, complicated, valency is high, reliability is influenced.
In traditional rotor-side cascade adjustable-speed system, uncontrollable rectifier of motor rotor side joint and thyristor inverter change rotor voltage ， Shi Now speed governing by changing inverter triggering phase shifting angle.Rotor voltage low (general＜1000V), blower fan and load of the pumps require speed adjustable range little (general 40～50%) in addition, governing system low pressure (＜500V) converting electric power, and capacity little (0.4～0.5PN), avoided the difficulty of middle pressure speed governing.Its major defect is, the phase shifting control of inverter causes the operate power factor low, and harmonic wave is big.
Develop the chopped mode cascade adjustable-speed system in recent years, the rotor side also is to connect uncontrollable rectifier and thyristor inverter, but between rectifier and inverter, add the first class boost chopper, it is constant that the triggering phase shift advance angle of thyristor inverter is fixed on minimum value (about 30 °) during work, dc inversion voltage is fixed, recently change rotor voltage by the duty that changes chopper, realize speed governing.Compare with traditional tandem control, the chopped mode tandem control is regulated piezoelectricity machine rotating speed in the total power with the low voltage control equipment of smaller power, and power factor improves, and harmonic wave reduces.If motor load is the quadratic form load of blower fan and pump class, the inverter capacity also can further reduce to (0.2～0.3PN), still, still have two problems by the chopped mode cascade adjustable-speed system that uses Fa Now ， Now to have:
At electric network fault, supply power voltage reduces suddenly or Xiao Shi Time significantly, and thyristor inverter is overturned inversion, damage equipment;
In speed closed loop control, the control of boost chopper is made of speed outer shroud and current inner loop two parts, because the boost chopper control characteristic is non-linear, makes that the response of current inner loop is different under different rotating speeds, and the current regulator parameter adjustment is very difficult.
In order to overcome the above-mentioned defective of tandem control, the rotor frequency conversion speed-adjusting system of a new generation adopts the Current limited Control pulse of current peak two point form, the switching tube of control boost chopper, duty ratio is regulated in requirement according to speed governing, thereby change dc inversion voltage, overcome the nonlinear problem of boost chopper control characteristic; Utilize the turn-off capacity of insulated door based transistor, the inversion stalling protection that cut off its direct current main circuit ， Shi Now when the thyristor inverter inversion is overturned, Xie Jue Now have thyristor inverter that system the exists problem at electrical network Gu Zhang Time damage equipment.Overturn problem in order thoroughly to eliminate inversion recently, on above-mentioned rotor frequency conversion speed-adjusting system of new generation basis, proposed a kind of two PLC digital speed-control systems of IGBT inverter middle voltage electromotor chopped mode that inversion is overturned that do not produce.
By user's actual use, there is the user to wish that the two PLC digital speed-control systems of IGBT inverter middle voltage electromotor chopped mode have more powerful function, specifically:
1 when the digital speed-control system breaks down, and motor still can speed governing operation, rather than can only switch to full speed running;
2 motor from start to speed governing or from speed governing at full speed, or failover all can have disturbance ground do not carry out, rather than of short duration motor speed fluctuates process occurs;
3 speed-adjusting and control system hardware configurations are simpler, more reliable performance, maintenance are more convenient.
Summary of the invention
The purpose of this invention is to provide a kind of no disturbance that at full speed with the two-way switching of speed governing the time, realizes, adjustable speed still when the digital speed-control system failure, the middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of simple in structure simultaneously, dependable performance, convenient operating maintenance.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, comprise electric motor system and governing system, described governing system comprises the uncontrollable rectifier that connects successively, the overvoltage protection controller, boost chopper, inverter and contravariant transformer, described inverter adopts complete controlled insulated door double-pole switch pipe IGBT, between described uncontrollable rectifier and boost chopper, be connected to the first current/voltage acquisition system, the output of the described first current/voltage acquisition system is connected circular current controller in first Programmable Logic Controller and connected first with described overvoltage protection controller, the PWM of circular current controller output connects the input of described boost chopper in described first Programmable Logic Controller and connected first, between described boost chopper and inverter, be connected to the second current/voltage acquisition system, the output of the described second current/voltage acquisition system connects circular current controller in second Programmable Logic Controller and connected second, the PWM of circular current controller output connects the input of described inverter in described second Programmable Logic Controller and connected second, described second Programmable Logic Controller and coupled interior circular current controller are implemented the interior circular current of described inverter is controlled, described second Programmable Logic Controller is implemented the voltage of described inverter is controlled, described first Programmable Logic Controller connects the overheated detection of overcurrent-overvoltage in the described governing system, and connecting described electric motor system and governing system, described first Programmable Logic Controller and second Programmable Logic Controller are interconnected; Described first Programmable Logic Controller and the first coupled interior circular current controller are implemented the interior circular current of described boost chopper is controlled, described first Programmable Logic Controller is implemented the outer shroud speed control to described governing system, implement simultaneously to the program control of described governing system and electric motor system and to described adjustable water resistor control, wherein first Programmable Logic Controller and second Programmable Logic Controller are used for:
(1) after the governing system start powers on, self is carried out initialization, make control system be in the preparation state;
(2) read in system parameters;
(3) screen displaying is started working, user's input operation information, and as technology type, technological parameter etc., decision inverter voltage set-point;
(4) carry out starter motor by adjustable water resistance starter FR;
(5) before motor start-up was not converted to speed governing, chopper BC pulsewidth was followed the tracks of actual speed, switched to realize full speed to the no disturbance of speed governing;
(6) detect the motor revolution and reach rated value not,, then return step (5) if do not reach;
(7) obtain signal from the first current/voltage acquisition system (UIM1) and judge that whether detect governing system is in normal operating conditions, if undesired, enters step (13);
(8) IGBT inverter (T1) is devoted oneself to work, and (BC) sets up DC bus-bar voltage for boost chopper;
(9) when electromotor velocity rises to the speed governing preset value, then governing system does not switch to the digital speed-control system by water resistance starter (FR), the given preset value that switches to of the pulsewidth of boost chopper (BC) with having disturbance;
(10) after entering the speed governing state, electric current loop and the two close-loop feedback control systems of speed ring and the control algolithm of fuzzy are adopted in interior circular current control and the work of outer shroud speed control system, keep the constant airspeed of motor and good dynamic and static quality is arranged;
(11) in speed regulation process, first Programmable Logic Controller (PLC1) is controlled the resistance of water resistor simultaneously, makes it the current speed governing value of real-time tracking;
(12) obtain the input inversion circuit from the second current/voltage acquisition system (UIM2) and whether have faults such as overcurrent, overvoltage, then do not skip to step (10) if having;
(13) system protection changes the speed governing state of adjustable water resistor over to.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described first Programmable Logic Controller stores input-output subprogram, can realize man-machine interaction by touch-screen, the setting, controller type of carrying out technological parameter selected, the preservation of technological parameter and revise the input-output subprogram of some operations.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described first Programmable Logic Controller 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.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described second Programmable Logic Controller is provided with RS232/RS485 communication interface, CAN fieldbus, IP interface, and store the telecommunication supervisory routine, by RS232/RS485 communication interface and/or CAN fieldbus and/or the computer-implemented telecommunication of IP interface and Surveillance center, described Surveillance center computer directly carries out remote monitoring to the state of described governing system.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, when described middle voltage electromotor starts, the pulsewidth of described boost chopper is followed electromotor velocity and is changed, and after described governing system put into operation, the resistance of described adjustable water resistor was followed electromotor velocity and changed.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention when described governing system breaks down, carry out error protection immediately, and electric motor system switches to described adjustable water resistor by described governing system, keeps speed governing operation.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described IGBT inverter replaces with the SCR inverter.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described system outer shroud voltage control can adopt fuzzy control, PID control and self-adjusting parameter fuzzy PID controller.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, during circular current is controlled in described, the generation of the control wave of inverter selects for use a slice FPGA to realize, it comprises digital to analog converter, down counter, linear operational amplifier, wherein FPGA partly connects Programmable Logic Controller, digital to analog converter partly connects the output of the first current/voltage acquisition system, the output of one road is connected to another Programmable Logic Controller, and another road output is connected to chopper or inverter.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, described Programmable Logic Controller chip adopts SIMATIC S7-200 or SIMATIC S7-300 family chip.
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device provided by the invention, its beneficial technical effects is: when keeping the existing and up-to-date whole advantages of IGBT inverter middle voltage electromotor chopped mode dual DSP digital governing system, adopt medium-to-high grade PLC to replace DSP, system hardware structure is greatly simplified, safeguard very convenient, reliability improves greatly, simultaneously for the user voluntarily the extension system function possibility is provided.Because adopt adjustable water resistor, the adjusting of water resistor and the voltage-regulation of chopper are synchronous, make the input of speed regulator and excision be no disturbance, and can realize also that when the speed regulator fault motor becomes the rotor resistance speed governing.
Be elaborated with reference to accompanying drawing below in conjunction with embodiment, so that purpose of the present invention, feature and advantage are had deep understanding.
Description of drawings
Fig. 1 is the circuit diagram one (being used for pressing the conventional wound asynchronous motor) of middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention;
Fig. 2 is the main circuit diagram of IGBT inverter in the governing system of the present invention;
Fig. 3 is the double-layer structure figure of digital intelligent hardware control system in the governing system of the present invention;
Fig. 4 is the structure chart of IGBT inverter current Voltage loop controller in the governing system of the present invention;
Fig. 5 is the schematic diagram of the two closed-loop controls of IGBT inverter in the governing system of the present invention;
Fig. 6 is the main program flow chart of IGBT inverter in the governing system of the present invention;
Fig. 7 is the fuzzy control principle figure of the outer loop voltag of governing system IGBT inverter of the present invention;
Fig. 8 is the fuzzy control program flow chart of the outer loop voltag of governing system IGBT inverter of the present invention;
Fig. 9 is IGBT inverter middle voltage electromotor chopped mode dual DSP digital governing system circuit diagram two of the present invention (being used for pressing the internal feedback wire wound asynchronous motor);
Figure 10 is IGBT inverter middle voltage electromotor chopped mode dual DSP digital governing system circuit diagram three of the present invention (being used for pressing around the cage brushless double-fed motor);
Figure 11 is IGBT inverter middle voltage electromotor chopped mode dual DSP digital governing system circuit diagram four of the present invention (being used for pressing cage internal feedback brushless motor).
Embodiment
Middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device of the present invention, with reference to Fig. 1, MD is an electric motor system, comprises motor M and auxiliary devices such as adjustable water resistor FR, control switch and distribution thereof.Governing system FC comprises the chopper speed governing main circuit of employing IGBT inverter and the digital intelligent control section of two PLC.In main circuit, the uncontrollable rectifier DR among the governing system FC switches through sub-winding (the normal Gong Zuo of Zheng Time KM1, KM2 disconnect, the KM3 closure) by the brush and the slip ring of motor, and IGBT inverter TI gets access to grid by transformer TAW.BC among the governing system FC is boost chopper (being made up of inductance L S, diode SD, field effect transistor CS, capacitor C, fast diode BOD and controllable silicon SCR), and FR is adjustable water resistor, and KM1, KM2 and KM3 are three-phase contactor.Fast diode BOD and silicon controlled crystal brake pipe SCR are rotor loop overvoltage protection link.Digital control part comprises two Programmable Logic Controller PLC (Programmable Logic Controller), two interior circular current controllers, wherein circular current controller NFC2 in the first interior circular current controller NFC1 and second is made up of D/A conversion and on-site programmable gate array FPGA (Field Programmable Gate Array).
Between uncontrollable rectifier DR and boost chopper BC, be connected to the first current/voltage acquisition system UIM1, the output of the first current/voltage acquisition system UIM1 is connected circular current controller NFC1 in the first Programmable Logic Controller PLC1 and connected first with described overvoltage protection controller BOD, the PWM of circular current controller NFC1 output connects the input of described chopper BC in the first Programmable Logic Controller PLC1 and connected first, between described boost chopper BC and inverter T1, be connected to the second current/voltage acquisition system UIM2, the output of the second current/voltage acquisition system UIM2 connects the second Programmable Logic Controller PLC2 and the connected second interior circular current controller NFC2 implements the interior circular current of inverter T1 is controlled, the PWM of circular current controller NFC2 output connects the input of inverter T1 in the second Programmable Logic Controller PLC2 and connected second, the second Programmable Logic Controller PLC2 and coupled interior circular current controller NFC2 implement the interior circular current of inverter T1 is controlled, the second Programmable Logic Controller PLC2 implements the voltage of inverter T1 is controlled, the first Programmable Logic Controller PLC1 connects the overheated detection of overcurrent-overvoltage among the governing system FC, and connecting electric motor system MD and governing system FC, the first Programmable Logic Controller PLC1 and the second Programmable Logic Controller PLC2 are interconnected; The first Programmable Logic Controller PLC1 and the first coupled interior circular current controller NFC1 implement the interior circular current of described boost chopper BC is controlled, the first Programmable Logic Controller PLC1 implements the outer shroud speed control to governing system FC, implement program control simultaneously to governing system FC and electric motor system MD, second Programmable Logic Controller and coupled interior circular current controller NFC2 implement the interior circular current of inverter T1 is controlled, and implement simultaneously the voltage of inverter is controlled.
The first Programmable Logic Controller PLC1 is provided with the input-output subprogram module and carries out the human-computer interaction interface touch-screen of the display setting of technological parameter, controller type selection.
The first control able to programme PLC1 is provided with the warning subroutine module of handling governing system FC overcurrent, overvoltage, overheated and open-phase fault and electric motor system MD and environment corollary equipment fault.
The second Programmable Logic Controller PLC2 is provided with RS232/RS485 communication interface, CAN fieldbus, IP interface, and store the telecommunication supervisory routine, by the RS232/RS485 communication interface and or the CAN fieldbus and or the computer-implemented telecommunication of IP interface and Surveillance center, Surveillance center's computer directly carries out remote monitoring to the state of governing system FC.
In the present invention, adopt the IGBT inverter to replace the silicon controlled crystal brake pipe inverter, the structure of FPGA mainly is divided into three parts among the second interior circular current controller NFC2: 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 IGBT inverter adopts two closed-loop control, i.e. current inner loop and outer voltage.Wherein current inner loop is recently to realize by six IGBT duties of control inverter T1, and it is all higher to the speed and the reliability requirement of control circuit.In addition, the inverter switching device pipe is opened and is also all required 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-IIE and VirtexIIPro 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.
With reference to shining Fig. 1, the PWM of circular current controller NFC1 output connects the input of described chopper in the PLC1 and connected first, the output of the second current/voltage acquisition system connects circular current controller NFC2 in PLC2 and connected second, the PWM output of NFC2 connects the input of IGBT inverter, PLCl also connects the overheated detection of overcurrent-overvoltage in the governing system, and connect electric motor system and governing system, implement to implement control to the program control of governing system and electric motor system and to adjustable water resistor.
Programmable Logic Controller is a kind of digital electronic device that can directly apply to industrial environment; be a kind of based on microprocessor; in conjunction with computer technology; the automatic control technology and the communication technology; use towards control procedure; the industrial control device of user oriented " natural language " programming; its reliability height; easy to operate; use simple; adopt PLC to replace DSP or single-chip microcomputer; can simplify hardware configuration greatly; improve reliability; make operation more simple and convenient; needing to implement electromotor velocity in speed regulation process regulates; keep inverter output voltage constant; and over-voltage and over-current error protection and warning arranged; these occasions are had relatively high expectations to control strategy and control algolithm; so adopt the medium-to-high grade SIMATIC S7-200 of Siemens or the PLC of SIMATIC S7-300 series; it provides CPU that multiple performance increases progressively and abundant and have many I/O expansion modules that make things convenient for function; can carry out the complex mathematical computing; in 8 road PID computing modules are arranged; the high-speed counter input port that the highest a plurality of 30KHz speed are arranged; the pwm pulse output port of two 30KHz speed the highest; therefore; for simplifying circuit, also can utilize this output port directly to control the input of IGBT.Utilize the excellent properties of SIMATIC S7 series to cooperate ingenious programming can implement effective protection and warning to the system failure.
With reference to Fig. 2, three-phase inverter adopts full controlled tr tube IGBT (Insulated Gate BipolarTransistor), IGBT is the insulated door bipolar transistor, owing to carry out the low pressure speed governing in rotor-side, requirement of withstand voltage to switching device is low, can adopt price to hang down the complete switching device of description.
With reference to Fig. 3, in the present invention, the digital intelligent hardware control system is a double-layer structure, and the upper strata is PLC, and lower floor mainly is made up of FPGA and D/A high speed circuit.PLC mainly finishes the outer shroud voltage control, for circular current control in the FPGA offers value data.Directly provide trigger impulse by FPGA to the IGBT gate pole of IGBT chopper and IGBT inverter.The FPGA clock frequency is done, and 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.So the FPGA circuit that the low layer control circuit of system is selected to tell is realized.
With reference to Fig. 4, Fig. 4 is the physical circuit schematic diagram of interior circular current controller, and in interior circular current control, the generation of the control wave of inversion IGBT selects for use a slice FPGA of appropriate scale to realize.Wherein D/A is a digital to analog converter, and MC is a down counter, and DA1, DA2 are linear operational amplifier.Wherein FPGA partly connects PLC, and A/D partly connects the output of UIM1, and the output of one road is connected to another PLC, and another road output is connected to chopper (BC) (or inverter T1).
With reference to Fig. 1 and Fig. 3, use lime sensor acquisition inverter current Io among the second current/voltage acquisition system UIM2 and gather contravarianter voltage U
0, above-mentioned signal converts the signal U of digital quantity to by operational amplifier DA1, DA2, modulus converter A/D
Fr *, I
Fr *, and deliver to the second Programmable Logic Controller PLC2; Second Programmable Logic Controller provides clock for FPGA, obtains required inverter IGBT control signal by the second Programmable Logic Controller PLC2 according to the control algolithm of fuzzy, delivers to the pulse generator FF of FPGA; The minimum service time t of inverter is provided by PLC
OnWith minimum turn-off time t
Off, produce and these two corresponding pulses of time by pulse generator, and carry out logical operation, thereby obtain the pwm control signal of inverter switching device pipe IGBT with normal pulse signal, regulate duty ratio according to operation conditions, to keep inverter output voltage U
0Constant, satisfy the requirement of boost chopper.In speed regulation process, inverter feedback electrical power.When inversion circuit generation overcurrent, FPGA sends down pulse to copped wave side PLC1.
With reference to Fig. 5, in the two loop control theories of IGBT inverter, interior ring is a Current Control, and outer shroud is a voltage control, adopts Fuzzy PID to realize by the second Programmable Logic Controller PLC2.Wherein, Fuzzy PID is stored among the second Programmable Logic Controller PLC2 in advance, and the step of control procedure is as follows: (1) is compared by the feedback voltage of given voltage and detection, obtains voltage deviation.(2) AVR is an automatic voltage regulator, adopts Fuzzy PID, makes inverter output voltage be stabilized in required set-point, and sends the inverter current set-point to ACR.(3) ACR is an automatic current regulator, adopts Fuzzy PID, the control impuls of output inverter.(4) by the FPGA output pwm signal, the switch I GBT of control inverter is to guarantee the stable of under various running statuses inverter current.(5) three-phase inverter TI, by contravariant transformer TAW to electrical network feedback electrical power.
With reference to Fig. 6, in the enforcement of middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed regulating device, the first Programmable Logic Controller PLC1 implements IGBT chopper BC is controlled by the first interior circular current controller NFC1, by the control of PLC1 enforcement to electromotor velocity, control adjustable water resistor simultaneously, make resistance (corresponding to the speed) set point of adjustable water resistor follow the tracks of the motor present speed synchronously, job step is described in detail as follows:
(1) after the governing system start powered on, Programmable Logic Controller PLC1, PLC2 started initialization self are carried out initialization, make control system be in the preparation state;
(2) transfer the parameter input subroutine;
(3) screen displaying is started working, user's input operation information, and as technology type, technological parameter etc., decision inverter voltage set-point;
(4) carry out starter motor by adjustable water resistance starter FR;
(5) before motor start-up was not converted to speed governing, chopper BC pulsewidth was followed the tracks of actual speed, switched to realize full speed to the no disturbance of speed governing;
(6) detect the motor revolution and reach rated value not,, then return step (5) if do not reach;
(7) obtain signal from the first current/voltage acquisition system UIM1 and judge that whether detect governing system is in normal operating conditions, if undesired, enters step (13);
(8) IGBT inverter T1 devotes oneself to work, and BC sets up DC bus-bar voltage for boost chopper;
(9) when electromotor velocity rises to the speed governing preset value, then governing system does not switch to the digital speed-control system by water resistance starter FR, the given preset value that switches to of the pulsewidth of boost chopper BC with having disturbance;
(10) after entering the speed governing state, electric current loop and the two close-loop feedback control systems of speed ring and the control algolithm of fuzzy are adopted in interior circular current control and the work of outer shroud speed control system, keep the constant airspeed of motor and good dynamic and static quality is arranged;
(11) in speed regulation process, the first Programmable Logic Controller PLC1 controls the resistance of water resistor simultaneously, makes it the current speed governing value of real-time tracking;
(12) obtain the input inversion circuit from the second current/voltage acquisition system UIM2 and whether have faults such as overcurrent, overvoltage, then do not skip to step (10) if having;
(13) system protection changes the speed governing state (because the resistance of water resistor is equivalent to the velocity amplitude before switching, so can implement not switch to the water resistor speed governing by digital speed-control) of adjustable water resistor over to with having disturbance.
With reference to Fig. 7 and Fig. 8, in the embodiment of the two PLC digital speed-control systems of IGBT inverter middle voltage electromotor chopped mode of the present invention, system's outer shroud voltage control can adopt fuzzy control, PID control and self-adjusting parameter fuzzy PID controller.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 running.The example that is applied as with on the self-adjusting parameter fuzzy PID control of pump has illustrated this governing system control principle and software flow.Can import technological parameter and select fuzzy controller by touch-screen, record the virtual voltage and the electric current of inverter, relatively obtain their error and the differential of the error of calculation with set-point by transducer.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.
Parameter input and output at native system, realize man-machine interaction by touch-screen equally, carry out setting, preservation and the modification of parameter, the parameter of inverter also can show on touch-screen, being undertaken by the first Programmable Logic Controller PLC1 and the second Programmable Logic Controller PLC2 alternately of information.
Be suitable for the present invention and with the drive motor of governing system four classes arranged: middle pressure conventional wound asynchronous motor (Fig. 1), middle pressure internal feedback wire wound asynchronous motor (Fig. 9), middle pressure are around cage brushless double-fed motor (Figure 10) and middle pressure cage internal feedback brushless motor (Figure 11).
Claims (10)
1. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system, comprise electric motor system (MD) and governing system (FC), described governing system (FC) comprises the uncontrollable rectifier (DR) that connects successively, overvoltage protection controller (BOD), boost chopper (BC), IGBT inverter (T1) and contravariant transformer (TAW), it is characterized in that: described IGBT inverter (TI) adopts complete controlled insulated door double-pole switch pipe IGBT, between described uncontrollable rectifier (DR) and boost chopper (BC), be connected to the first current/voltage acquisition system (UIM1), the output of the described first current/voltage acquisition system (UIM1) is connected circular current controller (NFC1) in first Programmable Logic Controller (PLC1) and connected first with described overvoltage protection controller (BOD), the PWM of circular current controller (NFC1) output connects the input of described boost chopper (BC) in described first Programmable Logic Controller (PLC1) and connected first, between described boost chopper (BC) and IGBT inverter (T1), be connected to the second current/voltage acquisition system (UIM2), the output of the described second current/voltage acquisition system (UIM2) connects circular current controller (NFC2) in second Programmable Logic Controller (PLC2) and connected second, the PWM of circular current controller (NFC2) output connects the input of described IGBT inverter (T1) in described second Programmable Logic Controller (PLC2) and connected second, described second Programmable Logic Controller (PLC2) and the second coupled interior circular current controller (NFC2) are implemented the interior circular current of described IGBT inverter (T1) is controlled, described second Programmable Logic Controller (PLC2) is implemented the voltage of described IGBT inverter (T1) is controlled, described first Programmable Logic Controller (PLC1) connects the overheated detection of overcurrent-overvoltage in the described governing system (FC), and connecting described electric motor system (MD) and governing system (FC), described first Programmable Logic Controller (PLC1) and second Programmable Logic Controller (PLC2) are interconnected; Described first Programmable Logic Controller (PLC1) and the first coupled interior circular current controller (NFC1) are implemented the interior circular current of described boost chopper (BC) is controlled, described first Programmable Logic Controller (PLC1) is implemented the outer shroud speed control to described governing system (FC), implement simultaneously to the program control of described governing system (FC) and electric motor system (MD) and to adjustable water resistor (FR) control, wherein first Programmable Logic Controller (PLC1) and second Programmable Logic Controller (PLC2) are used for:
(1) after the governing system start powers on, self is carried out initialization, make control system be in the preparation state;
(2) read in system parameters;
(3) screen displaying is started working, user's input operation information, decision inverter voltage set-point;
(4) carry out starter motor by adjustable water resistor (FR);
(5) before motor start-up was not converted to speed governing, boost chopper (BC) pulsewidth was followed the tracks of actual speed, switched to realize full speed to the no disturbance of speed governing;
(6) detect the motor revolution and reach rated value not,, then return step (5) if do not reach;
(7) obtain signal from the first current/voltage acquisition system (UIM1) and judge that whether detect governing system is in normal operating conditions, if undesired, enters step (13);
(8) IGBT inverter (T1) is devoted oneself to work, and (BC) sets up DC bus-bar voltage for boost chopper;
(9) when electromotor velocity rises to the speed governing preset value, then governing system does not switch to the digital speed-control system by adjustable water resistor (FR), the given preset value that switches to of the pulsewidth of boost chopper (BC) with having disturbance;
(10) after entering the speed governing state, electric current loop and the two close-loop feedback control systems of speed ring and the control algolithm of fuzzy are adopted in interior circular current control and the work of outer shroud speed control system, keep the constant airspeed of motor and good dynamic and static quality is arranged;
(11) in speed regulation process, first Programmable Logic Controller (PLC1) is controlled the resistance of adjustable water resistor (FR) simultaneously, makes it the current speed governing value of real-time tracking;
(12) obtain the input inversion circuit from the second current/voltage acquisition system (UIM2) and whether have overcurrent, overvoltage fault, then do not skip to step (10) if having;
(13) system protection changes the speed governing state of adjustable water resistor (FR) over to.
2. according to the described middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system of claim 1, it is characterized in that: described first Programmable Logic Controller (PLC1) stores input-output subprogram, realize man-machine interaction by touch-screen, setting, the controller type that carries out technological parameter selected, the input-output subprogram of the preservation of technological parameter.
3. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 2, it is characterized in that: described first Programmable Logic Controller (PLC1) stores handles described governing system (FC) overcurrent, overvoltage, overheated and open-phase fault, and the warning subprogram of described electric motor system (MD) and environment corollary equipment fault.
4. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 3, it is characterized in that: described second Programmable Logic Controller (PLC2) is provided with RS232/RS485 communication interface, CAN fieldbus, IP interface, and store the telecommunication supervisory routine, by RS232/RS485 communication interface and/or CAN fieldbus and/or the computer-implemented telecommunication of IP interface and Surveillance center, described Surveillance center computer directly carries out remote monitoring to the state of described governing system (FC).
5. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 4, it is characterized in that: when described middle voltage electromotor starts, the pulsewidth of described boost chopper (BC) is followed electromotor velocity and is changed, after described governing system (FC) put into operation, the resistance of described adjustable water resistor (FR) was followed electromotor velocity and is changed.
6. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 5; it is characterized in that: described governing system (FC) is when breaking down; carry out error protection immediately; electric motor system (MD) switches to described adjustable water resistor (FR) by described governing system (FC), keeps speed governing operation.
7. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 6 is characterized in that: described IGBT inverter (TI) replaces with the SCR inverter.
8. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 7 is characterized in that: system's outer shroud voltage control adopts fuzzy control, PID control and self-adjusting parameter fuzzy PID controller.
9. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 8, it is characterized in that: during circular current is controlled in described, the generation of the control wave of IGBT inverter (T1) selects for use a slice FPGA to realize, it comprises digital to analog converter, down counter (MC), linear operational amplifier (DA1, DA2), wherein FPGA partly connects first Programmable Logic Controller (PLC1) and second Programmable Logic Controller (PLC2), digital to analog converter partly connects the output of the first current/voltage acquisition system (UIM1), one tunnel output of the described first current/voltage acquisition system (UIM1) is connected to first Programmable Logic Controller (PLC1), another road output is connected to boost chopper (BC), one tunnel output of the second current/voltage acquisition system (UIM2) is connected to second Programmable Logic Controller (PLC2), and another road output is connected to IGBT inverter (T1).
10. middle voltage electromotor chopping type bumpless switching bis-PLC intelligent speed-governing system according to claim 9 is characterized in that: described first Programmable Logic Controller (PLC1) and described second Programmable Logic Controller (PLC2) chip adopt SIMATIC S7-200 or SIMATIC S7-300 family chip.
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| CN103259484A (en) * | 2013-05-15 | 2013-08-21 | 无锡艾柯威科技有限公司 | Method for starting permanent magnet synchronous motor without position sensor |
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| CN104779881A (en) * | 2015-03-30 | 2015-07-15 | 成都颉隆科技有限公司 | Energy-saving type motor control system based on phase shift treatment |
| CN104821726A (en) * | 2015-04-02 | 2015-08-05 | 桂林电子科技大学 | Electron beam welding machine power supply high-voltage voltage stabilization method and method employing micro ripper Cuk type converter |
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