CN101479928B - Inverter control device and its operation method - Google Patents
Inverter control device and its operation method Download PDFInfo
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- CN101479928B CN101479928B CN2007800244377A CN200780024437A CN101479928B CN 101479928 B CN101479928 B CN 101479928B CN 2007800244377 A CN2007800244377 A CN 2007800244377A CN 200780024437 A CN200780024437 A CN 200780024437A CN 101479928 B CN101479928 B CN 101479928B
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Abstract
It is possible to provide an inverter control device capable of performing continuous operation without causing a trip or unnecessary torque ripple at an excessive voltage or a low voltage during an instantaneous power supply stop or a regenerative operation. A method for operating the device is also provided. The inverter control device (20) includes a voltage detection circuit (5) for detecting a terminal voltage of a smoothing capacitor (2) and a speed instruction selection circuit (6) for detecting an instantaneous power supply stop of AC power supply. The inverter control device (20) further includes a power calculation circuit (36) for calculating a power output and a speed instruction calculation circuit (7) for calculating a power output target value and a speed instruction value upon an instantaneous power supply stop.
Description
Technical field
The present invention relates to a kind of circuit control device that is used for gear shift mode control AC motor; And more specifically; Relate to a kind of circuit control device and the method that is used to operate this circuit control device; Make can continued operation during the instant cut-off and can handle regenerated energy between deceleration period, and the AC motor is operated down in the regeneration load at the AC motor.
Background technology
In the situation of the first conventional inverter controller; According to its method of operation during instant cut-off, when the terminal voltage (intermediate voltage) of smmothing capacitor is reduced to level 1 or when lower, the AC motor is slowed down; When because regenerated electric power through slow down obtaining; Intermediate voltage is elevated to level 2 or when higher, the AC motor quickens, and as stated subsequently according to the rising of intermediate voltage or reduce and repeats acceleration and control; The fall off rate of intermediate voltage is lowered (for example, the referenced patent document 1) thus.
In the situation of the second conventional inverter controller; Circuit control device uses the outage detectable signal and reduces speed now; Thereby the probe value of based target value and DC intermediate voltage calculates rate of deceleration 1 DC intermediate voltage between deceleration period and becomes constant; Rate of change based on the DC intermediate voltage calculates rate of deceleration 2; And to controlling deceleration time,, the DC intermediate voltage stops when reaching the voltage before outage is surveyed or between deceleration period, raise thus slow down (for example, the referenced patent document 2) through the value integration that obtains that these two rate of deceleration are multiplied each other through pro rata.
In the situation of the 3rd conventional inverter controller, when output frequency reduction and motor deceleration, the magnitude of voltage of main circuit (corresponding to the terminal voltage value of smmothing capacitor) raises; Thereby according to deceleration time of the magnitude of voltage of the main circuit that is detected control motor when the voltage detection value is higher than predetermined first magnitude of voltage; Be extended deceleration time; Thereby and when the voltage detection value reaches second magnitude of voltage that is higher than first magnitude of voltage; Stop to slow down (for example, the referenced patent document 3).
In the situation of the 4th conventional inverter controller; When the dc voltage (corresponding to the terminal voltage value of smmothing capacitor) that during motor operation, applies the regeneration load and detected surpasses fiducial value; Obtain upborne output frequency through multiply by the constant proportional gain in the difference between dc voltage value that is detected and the fiducial value; And carry out control with rising output frequency (for example, the referenced patent document 4).
Fig. 8 is the view that the operation of the 4th conventional inverter controller is shown, and this circuit control device is used for when for example regenerated energy uses the AC motor under the loading condition that the bottom dead centre place of squeezer raises therein, driving this AC motor.In the drawings, f representes that output frequency, Vdc represent the DC busbar voltage, and Vdc0 representes DC busbar voltage stall level, and Vdc2 representes overpressure level.
When using deceleration instruction to reduce output frequency f (at the p1 place) and motor deceleration, DC busbar voltage Vdc is raise by the regenerated energy from motor.When DC busbar voltage Vdc became the horizontal Vdc0 of DC busbar voltage stall or higher (at p2 and p4 place), output frequency f was raised to prevent the overvoltage tripping operation.Because output frequency f is raised, regenerated energy is lowered; When DC busbar voltage Vdc is lowered and become the horizontal Vdc0 of DC busbar voltage stall or lower (at p3 and p5 place), carry out deceleration instruction once more.
The method of operation that during instant cut-off, is used for the conventional inverter controller; Confirm rate of deceleration through governing speed instruction or through the operation of the detection circuit that perhaps cuts off the power supply based on the level of the terminal voltage (intermediate voltage) of smmothing capacitor, be the regenerative operation drive motors.
And then; Slowed down at the AC motor when the DC busbar voltage and the AC motor is elevated to the method for operation that predetermined voltage is used for the conventional inverter controller when perhaps higher at the regenerated energy of regeneration load following operating period; Repeat prolong deceleration time, stop to slow down or thereby the step of rising output frequency suppresses the DC busbar voltage and raises, prevent the overvoltage tripping operation thus according to the level of DC busbar voltage.
Patent documentation 1: do not authorize the open No.Hei 6-165579 of Japanese patent application
Patent documentation 2: Japan Patent No.3201460
Patent documentation 3: Japan Patent No.3095083
Patent documentation 4: Japan Patent No.3536695
Summary of the invention
Problem to be solved by this invention
In the method for operation that is used for the conventional inverter controller, survey the terminal voltage level of smmothing capacitor, and according to this voltage levvl control deceleration time and output frequency; Therefore, be applied to wherein being applied in the situation with the system of the load variations of driven AC motor, be difficult to confirm controlling the size of output frequency in said method; If the variation of output frequency is slow, then produce tripping operation at under-voltage or excessive rolling, such problem perhaps takes place, wherein slow down and acceleration is repeated and in motor, produce vibration.Especially, be applied to having the system of low mechanical stiffness or be provided with in the situation of circuit control device of smmothing capacitor of electric capacity with reduction in said method, in DC busbar voltage (Vpn) on/to change down be precipitous; Therefore, the problems referred to above take place significantly.
Consider these problems; One object of the present invention is to provide a kind of circuit control device and a kind of method that is used to operate circuit control device; Make it possible to continued operation and do not require difficult adjusting; Even and be applied to having the system of low mechanical stiffness or be provided with in the situation of circuit control device of smmothing capacitor of the electric capacity with reduction in the present invention, slowing down and the AC motor can not cause tripping operation in regeneration load following operating period yet under overvoltage is perhaps under-voltage during the instant cut-off or at the AC motor.
Be used to solve the method for said problem
In order to address the above problem, the present invention's that kind that is described below is configured.
According to an aspect of the present invention, relate to a kind of circuit control device, comprising:
As the AC motor of load,
Rectification circuit, said rectification circuit are used for the AC power conversions from AC power supplies is become DC electric power,
Smmothing capacitor, said smmothing capacitor are used for level and smooth dc voltage from said rectification circuit,
Inverter circuit, said inverter circuit are used for the DC power conversions via said smmothing capacitor supply is become desired frequency,
Current detection circuit, said current detection circuit are used to survey the output current from said inverter circuit,
Voltage detection circuit, said voltage detection circuit are used to survey the terminal voltage Vpn of said smmothing capacitor,
Speed command counting circuit, said speed command counting circuit calculate employed power-off time speed command under the situation of judging said AC power supplies outage,
Output voltage command calculations circuit, said output voltage command calculations circuit calculates the voltage instruction to said AC motor based on outage detectable signal, common time speed command and power-off time speed command;
Wherein, said speed command counting circuit comprises:
Power calculation circuit utilizes said output current and said voltage instruction to come the rated output output valve;
The power target counting circuit, the condenser capacitance C of desired value Vpnc and said smmothing capacitor when utilizing the outage of said terminal voltage Vpn, predefined said terminal voltage is according to (C * Vpnc
2Rated output export target value is come in)/2,
Calculate said power-off time speed command based on said power export target value and said power output valve.
According to an aspect of the present invention, relate to a kind of circuit control device, comprising:
As the AC motor of load,
Rectification circuit, said rectification circuit are used for the AC power conversions from AC power supplies is become DC electric power,
Smmothing capacitor, said smmothing capacitor are used for level and smooth dc voltage from said rectification circuit,
Inverter circuit, said inverter circuit are used for the DC power conversions via said smmothing capacitor supply is become desired frequency,
Current detection circuit, said current detection circuit are used to survey the output current from said inverter circuit,
Voltage detection circuit, said voltage detection circuit are used to survey the terminal voltage Vpn of said smmothing capacitor,
Frequency instruction counting circuit, said frequency instruction counting circuit are used to calculate the employed frequency instruction under the situation more than the set point at said terminal voltage Vpn,
Output voltage command calculations circuit; Said output voltage command calculations circuit be used for based on said terminal voltage Vpn whether more than the set point, temporal frequency instruction and at said terminal voltage Vpn employed said frequency instruction under the situation more than the set point usually; Calculate voltage instruction to said AC motor
Wherein, said frequency instruction counting circuit comprises:
Power calculation circuit utilizes said output current and said voltage instruction to come the rated output output valve;
The power target counting circuit utilizes the desired value Vpnc that prevents overvoltage when operation of said terminal voltage Vpn, predefined said terminal voltage and the condenser capacitance C of said smmothing capacitor, according to (C * Vpnc
2Rated output export target value is come in)/2,
Calculate said frequency instruction based on said power export target value and said power output valve.
According to another aspect of the present invention, relate to a kind of be used to the solve fluctuation of the AC power supplies that is used for circuit control device or the method for operation of instant cut-off, said circuit control device comprises:
AC motor as load;
Be used for to become from the AC power conversions of AC power supplies the rectification circuit of DC electric power;
Be used for smoothly smmothing capacitor from the dc voltage of said rectification circuit;
The inverter circuit of the frequency that is used for to become desired via the DC power conversions of said smmothing capacitor supply;
Be used to survey the current detection circuit of the output current of said inverter;
Voltage detection circuit with the terminal voltage Vpn that is used to survey said smmothing capacitor;
Speed command counting circuit, said speed command counting circuit calculate employed power-off time speed command under the situation of judging said AC power supplies outage,
Output voltage command calculations circuit, said output voltage command calculations circuit calculates the voltage instruction to said AC motor based on outage detectable signal, common time speed command and power-off time speed command;
Said method of operation may further comprise the steps:
Utilize said output current and said voltage instruction to come the rated output output valve;
The condenser capacitance C of desired value Vpnc and said smmothing capacitor when utilizing the outage of said terminal voltage Vpn, predefined said terminal voltage is according to (C * Vpnc
2Rated output export target value is come in)/2;
Calculate said power-off time speed command based on said power export target value and said power output valve.
Effect of the present invention
Utilize the present invention,
Can be based on the loop that is used for the power output of control inverter controller along the target voltage of the terminal of smmothing capacitor 2 and loop internal configurations that detecting voltage is confirmed deceleration instruction, and the desired value of the terminal voltage of smmothing capacitor can be by convergence apace.
And then, utilize the present invention, can the power loss value of circuit control device be taken in, and utilize the present invention, can the power loss value of the machine that comprises the AC motor be taken in; Therefore, even therein in the consistent each other state of the target voltage of the terminal of smmothing capacitor and detecting voltage, also can carry out level and smooth deceleration-operation, and unnecessary deceleration stops and slowing down not being repeated.
And, utilize the present invention, through the torque-limiting desired value, can prevent to produce excessive torque, can protect the machine that is used thus.
Further, utilizing the present invention, is in the situation of induction machine as the AC motor that is used load therein, can compensate difference frequency, can shorten thus in the time of delay before acquisition plan regenerated electric power.
Description of drawings
Fig. 1 illustrates according to the whole general configuration diagram table of the circuit control device of the first embodiment of the present invention;
Fig. 2 is the block diagram that is used for the speed command selection circuit 6 of selection speed command during outage is surveyed according to the first embodiment of the present invention;
Fig. 3 is the block diagram according to the speed command counting circuit 7 of the first embodiment of the present invention;
Fig. 4 is the sequential chart when outage takes place;
Fig. 5 is the whole general configuration diagram table of circuit control device that illustrates according to a second embodiment of the present invention;
Fig. 6 is the block diagram of sequence circuit 70 according to a second embodiment of the present invention;
Fig. 7 is the block diagram of frequency instruction counting circuit 71 according to a second embodiment of the present invention; With
Fig. 8 is the sequential chart of the operation of signal prior art.
Reference numeral
1 rectification circuit
2 smmothing capacitors
3 inverter circuits
4 current detection circuits
5 voltage detection circuits
6 speed commands are selected circuit
7 speed command counting circuits
8 voltage instruction counting circuits
9 pwm control circuits
10 base drive circuits
11 electromagnetic contactors
12 speed commands are provided with device
13 AC motors
20,20 ' circuit control device
21 switching circuits
22 soft starters
23 OR circuit
24 comparators
25,31,32,61,62,63 coefficient multipliers
34 energy object value counting circuits
35 circuit for calculating energy
36 power calculation circuits
37,60 subtracters
40 adders-subtracter
49 delay circuits
52 dividers
53 torque limit circuit
58 difference frequency counting circuits
59,64 adders
70 sequence circuits
71 frequency instruction counting circuits
72 frequency instructions are provided with device
73 switching circuits
74 comparators
75,76,77,82,85,88 coefficient multipliers
78 energy object value counting circuits
79 circuit for calculating energy
80,91 subtracters
81 power calculation circuits
83 restricting circuits
84 adders-subtracter
86 dividers
87 torque limit circuit
89,90 adders
92 difference frequency counting circuits
93 delay circuits
Activation signal is surveyed in a outage
B power-off time speed command
The c speed command
The instruction of d output voltage
The e output current is surveyed
The f detectable signal that cuts off the power supply
The common time speed command of g
Embodiment
To describe according to embodiments of the invention and instantiation according to the method for the invention based on accompanying drawing.
Fig. 1 illustrates according to the whole general configuration diagram table of circuit control device of the present invention.In Fig. 1; Numeral 1 representative is used for the rectification circuit that becomes DC electric power from the AC power conversions of AC power supplies; Numeral 2 is represented the smmothing capacitor of the dc voltage that is used for smoothly coming self-rectifying circuit 1; Numeral 3 representatives are used for the DC power conversions via smmothing capacitor 2 supply is become the inverter circuit 3 of desired frequency; Numeral 4 representatives are used to survey the current detection circuit of the output current of inverter circuit; Numeral 5 representatives are used to survey the voltage detection circuit of the terminal voltage of smmothing capacitor 2; Whether numeral 6 representatives are used for having taken place to select the speed command of speed command to select circuit according to off-position, and numeral 7 representatives are used for the speed command counting circuit of computational speed instruction during outage is surveyed, and numeral 8 representatives are used for calculating based on the speed command that sends from speed Instruction Selection circuit 6 the output voltage command calculations circuit of output voltage instruction; Numeral 9 representatives are used for based on the output signal that sends from speed Instruction Selection circuit 6 and the pwm control circuit of PWM control inverter circuit 3, and numeral 10 representatives are used for based on from the output signal of pwm control circuit 9 and the base drive circuit of drives inverter circuit 3; Circuit control device comprises these members.
The speed command that numeral 11 electromagnetic contactors represent on the AC power supplies side, numeral 12 representatives are used to set the speed command of common operating period is provided with device, and numeral 13 representatives are through the AC motor of the output driving of inverter circuit 3; These members are connected to circuit control device 20.
Whether the present invention is different from the prior art part and is, be provided for having taken place to select the speed command of speed command to select circuit 6 and the speed command counting circuit 7 that is used to calculate the power-off time speed command according to off-position; Speed command counting circuit 7 is provided with the loop of the power output that is used for control inverter controller 20 in the inside, loop that the target voltage Vpnc and the detecting voltage Vpn that are used for based on smmothing capacitor 2 confirm deceleration instruction, and further is provided with the torque limit circuit 53 and other circuit that is used for the torque-limiting desired value.
Whether Fig. 2 is used for having taken place to select the speed command of speed command to select the block diagram of circuit 6 according to off-position.In Fig. 2; Switching circuit 21, soft starter 22, OR circuit 23, comparator 24 and the coefficient multiplier 25 that speed command is selected circuit 6 to have to be used to set UV level 1, the output signal of OR circuit 23 is sent to speed command counting circuit 7; This OR circuit 23 is used to calculate the logic OR of the output signal of the comparator 24 of description afterwards that surveys activation signal and conduct outage detectable signal from the outage of electromagnetic contactor 11; And; Further, select said speed command through starting switch circuit 21 and through switching between the common time speed command that device 12 is set at the power-off time speed command of speed command counting circuit 7 with from speed command via soft starter 22 to speed command counting circuit 7 and the instruction of voltage instruction counting circuit 8 transmission speeds.
Fig. 3 is the block diagram that is used to calculate the speed command counting circuit 7 of power-off time speed command.In Fig. 3, speed command counting circuit 7 have the capacitor C of target voltage Vpnc and smmothing capacitor 2 on the terminal that is used for setting smmothing capacitor 2 coefficient multiplier 31 and 32, be used for calculating energy object value counting circuit 34, be used to calculate circuit for calculating energy 35 at the energy of smmothing capacitor 2 storages in the desired value of the energy of smmothing capacitor 2 storages, power calculation circuit 36, subtracter 37, adder-subtracter 40, delay circuit 49, divider 52, torque limit circuit 53, difference frequency counting circuit 58, adder 59, subtracter 60, coefficient multiplier 61,62 and 63 and adder 64; (C * Vpnc is calculated in energy object value counting circuit 34 coefficient of utilization multipliers 31 and 32 output
2)/2, and the terminal voltage Vpc of the output of circuit for calculating energy 35 coefficient of utilization multipliers 31 and the smmothing capacitor 2 that sends from voltage detection circuit 5 calculates (C * Vpn
2)/2, and power calculation circuit 36 is based on the inverter output current probe value of current detection circuit 4 places acquisition and the voltage instruction value rated output output P that sends from voltage instruction counting circuit 8.
In coefficient multiplier 61, set and be used for making, and the output of coefficient multiplier 61 becomes power export target value Pref from the desired value and the consistent each other proportional gain of currency of energy object value counting circuit 34 with the stored energy of circuit for calculating energy 35 transmissions.In coefficient multiplier 62, be set in the total value of the power loss in the machine that comprises circuit control device 20 and AC motor 13; And in coefficient multiplier 63, set corresponding in order to torque conversion is become the gain of the coefficient of acceleration figure, comprise that through use the inverse of the moment of inertia J of the whole load of AC motor 13 obtains said torque as guidance.
Below, with being described in the operation that is used to calculate the power-off time speed command in the speed command counting circuit 7.
Desired value (C * the Vpnc that uses subtracter 37 to obtain in above-mentioned stored energy
2Difference between)/2 and the currency multiply by gain to obtain power export target value Pref with this difference.The power loss value of using adder-subtracter 40 to be utilized in the machine that comprises circuit control device 20 and AC motor 13 is proofreaied and correct this power export target value Pref, and obtains the difference between this corrected value and power output P through the calculating of power calculation circuit 36.Use divider 52 with this difference divided by the velocity information ω r^ of AC motor 13 to obtain torque target value Tref.Use torque limit circuit 53 to limit this torque target value Tref, use the gain of setting in coefficient multiplier 63 to convert thereof into assisted instruction and use adder 54 that it is increased to present speed instruction ω r^ to obtain the power-off time speed command.
Though in above-mentioned explanation; The power loss value that in coefficient multiplier 62, will comprise the machine of circuit control device 20 and AC motor 13 is made as set point, but this power loss value can strictly be expressed as the function of the output current of inverter etc. and be combined.
And then; At used motor is in the situation of induction machine; Also possible is; Use the output valve of torque limit circuit 53 to utilize difference frequency counting circuit 58 to calculate difference frequencies, use adder 59 and 60 pairs of speed commands of subtracter to carry out the difference frequency compensation, thereby and the fundamental frequency instruction that is used as induction machine of the I/O speed command of speed command counting circuit 7 be shortened until the time of delay before the acquisition plan regenerated electric power.
And, though the speed command of use output for the last time obtains the velocity information ω r^ of AC motor 13, combining to be used for surveying the perhaps situation of the circuit of estimating speed, the probe value or the estimated value of all right operating speed.
Though all considered in circuit control device 20 power loss, comprising the power loss in the machine of AC motor 13 and be to the compensation of difference frequency in the situation of induction machine at used motor; Thereby realized said configuration, but these any one or any combinations of a plurality of considerations in considering can be added all.Even in this situation, each effect also remains unchanged.
As stated, the loop of power output that is formed for control inverter controller 20 in the inside, loop of confirming deceleration instruction in order to target voltage Vpnc and detecting voltage Vpn based on smmothing capacitor 2 is with the terminal voltage of control smmothing capacitor 2; And then, consider the power loss value rated output export target value of the machine that comprises circuit control device 20 and AC motor 13, and use torque limit circuit 53 torque-limiting desired values.
Utilize aforesaid operations, the terminal voltage of smmothing capacitor 2 can rapidly converge to desired value; Even in the consistent each other state of the target voltage of smmothing capacitor 2 and detecting voltage, also can carry out the smooth deceleration operation, and unnecessary deceleration stops and slowing down not being repeated.And then, because can prevent to produce excessive torque, can protect the machine that is used.
Below, will use Fig. 1,2 and 3 and Fig. 4 when outage (take place sequential chart), be described in according to the operation of the continuation during outage is surveyed in the circuit control device 20 of this embodiment.
Fig. 4 (a) illustrates the on/off state of AC power supplies; Fig. 4 (b) illustrates the opening/closing state that the contact is surveyed in outage; And Fig. 4 (c) illustrates the state of operational order; Fig. 4 (d) is illustrated in the variation among the terminal voltage Vpn of smmothing capacitor 2, and Fig. 4 (f) illustrates the speed command of circuit control device 20.
If instant cut-off takes place in AC power supplies, then the terminal voltage Vpn of the smmothing capacitor 2 of working voltage detection circuit 5 detections drops to under-voltage detection level 1 (UV level 1) or lower, and perhaps electromagnetic contactor 11 is opened.The moment in pressure drop or opening operation (more early whichsoever) is detected outage.When detecting outage, speed command selects circuit 6 to use switching circuit 21 that speed command is switched to the power-off time speed command from common time speed command.
Because the terminal voltage Vpn of smmothing capacitor 2 is lower than the preset value of coefficient multiplier 31 because outage becomes; Promptly; Target voltage Vpnc slow down so the power-off time speed command that operating speed command calculations circuit 7 calculates is issued to carry out, and AC motor 13 reduces speed now; The regenerated energy that depends on the moment of inertia J of rate of deceleration and load charges and rising terminal voltage Vpn via 3 pairs of smmothing capacitors of inverter circuit 2.At this moment, strictly speaking, there is reduction corresponding to the power loss in the power loss in the circuit control device 20 and the machine that comprises AC motor 13.
On the other hand, when the outage detectable signal, when promptly the output signal of OR circuit 23 became " 1 ", speed command selected circuit 6 to send power-off signal to speed command counting circuit 7.Speed command counting circuit 7 calculates the power-off time speed command through carrying out the aforementioned calculation operation, and speed command is sent to voltage instruction counting circuit 8 with deceleration AC motor 13.
And then; Relax and the terminal voltage Vpn of smmothing capacitor 2 becomes and is lower than in the situation of target voltage Vpnc in rate of deceleration; Perhaps opposite, in the situation that terminal voltage Vpn becomes higher, between power export target value Pref and power output P, produce deviation; Based on the control rate instruction apace of this deviation, and control is implemented as and makes terminal voltage Vpn become consistent with target voltage Vpnc.
If before AC motor 13 slows down and stops; The instant cut-off of AC power supplies is resumed; Then the terminal voltage Vpn of smmothing capacitor 2 is elevated to under-voltage detection level 1 (UV level 1) or higher; Electromagnetic contactor 11 is closed, and the detectable signal that cuts off the power supply shown in figure 2 becomes " 0 " and speed command is switched to the speed command that is used for common operation; Therefore, before reaching the speed command set point, quicken or deceleration taking to carry out during the time for the common needed acceleration of operation.
Utilize above-mentioned configuration, when generation instant cut-off in AC power supplies, select the power-off time speed command, carry out deceleration-operation, and smmothing capacitor 2 is charged and rising terminal voltage Vpn by regenerated energy that this operation produces; Therefore, AC motor 13 is slowed down and can be operated until it continuously to be stopped, and prevents the voltage step-down simultaneously; When the instant cut-off of AC power supplies is resumed; Speed command is switched to is used for the speed command of operation usually; Be emitted in thus to take and carry out the speed command that quickens or slow down during the time, until reaching the speed command set point to operating needed acceleration usually; As a result, even instant cut-off takes place, also can stably continue operation.
To be described below according to a second embodiment of the present invention with reference to accompanying drawing.
Embodiment 2
Fig. 5 is the general configuration diagram table that illustrates according to the circuit control device 20 ' integral body of embodiments of the invention 2.In Fig. 5, numeral 1 is represented rectification circuit, and numeral 2 is represented smmothing capacitor; Numeral 3 is represented inverter circuit; Numeral 4 is represented current detection circuit, digital 5 representative voltage detection circuits, digital 8 representative voltage command calculations circuit; Numeral 9 is represented pwm control circuit, and numeral 10 is represented base drive circuit; The operation similar operation of the circuit of these circuit execution and circuit control device 20 shown in Figure 1; Numeral 81 representatives are used to calculate the power calculation circuit of the power output of inverter; Numeral 71 representatives are in order to the frequency instruction counting circuit based on output calculated rate instruction 2 (fref2) of voltage detection circuit 5 and power calculation circuit 81, and numeral 70 representatives are used for the output of voltage detection circuit 5 has been surpassed the sequence circuit that frequency instruction (fref) surveyed and be used for the output (fref2) of frequency instruction counting circuit 71 is made as to fiducial value.
And then numeral 72 representatives are used to export as at the frequency instruction of the frequency instruction 1 (fref1) of the frequency instruction of operating period usually device being set, and numeral 13 representatives are as the AC motor (being described as induction machine afterwards) of load.Frequency instruction is provided with device 72 and is combined with the soft start function that is used for frequency instruction is converted to the instruction with acceleration speed.
The present invention is different from the prior art part and is that the present invention is provided with sequence circuit 70 and frequency instruction counting circuit 71; Frequency instruction counting circuit 71 is provided with the loop of the power output that is used for control inverter controller 20 ' in the inside, loop of confirming deceleration instruction in order to target voltage Vpnc and detecting voltage Vpn based on smmothing capacitor 2, and is provided with the torque limit circuit 87 that is used for the torque-limiting desired value.
Fig. 6 is the block diagram of sequence circuit 70.In Fig. 6, digital 73 representation switch circuit, numeral 74 is represented comparator, and numeral 75 is represented coefficient multiplier.
Based on the terminal voltage of smmothing capacitor, coefficient multiplier 75 is set and is used for confirming operation usually or prevented the threshold values that press operation is performed.This set point is the bigger value of terminal voltage value than the smmothing capacitor that can obtain in common operating period.
Fig. 7 is the block diagram of frequency instruction counting circuit 71.In Fig. 7, numeral 76 and 77 is represented coefficient multiplier, and numeral 78 is represented energy object value counting circuit, and numeral 79 is represented circuit for calculating energy; Numeral 80 is represented subtracter, and numeral 81 is represented power calculation circuit, and numeral 82 is represented coefficient multiplier, and numeral 83 is represented restricting circuits; Numeral 84 is represented adder-subtracter, and numeral 85 is represented coefficient multiplier, and numeral 86 is represented divider; Numeral 87 is represented the torque limit circuit, and numeral 88 is represented coefficient multiplier, and numeral 89 and 90 is represented adder; Numeral 91 is represented subtracter, and numeral 92 is represented the difference frequency computing unit, and numeral 93 is represented delay circuit.
In the figure; In coefficient multiplier 76, set the desired value Vpnc of the terminal voltage of smmothing capacitor 2; In coefficient multiplier 77, set the capacitor C of smmothing capacitor 2; In coefficient multiplier 82, set the output valve that is used for subtracter 80 and be controlled to be zero ride gain; In coefficient multiplier 85, be set in the loss value in the circuit control device 20 ' and comprising the total value of the loss value in the machine of AC motor 13, and in coefficient multiplier 88, set 1/J (J is the moment of inertia that comprises the whole load of AC motor 13).
In addition, the value (set point of coefficient multiplier 75) of fiducial value that is equal to, or greater than the terminal voltage of smmothing capacitor is set as Vpnc (set point of coefficient multiplier 76).
To use Fig. 5 to 7 to describe operation according to circuit control device 20 ' of the present invention.
When using deceleration instruction to reduce output frequency f or when applying when regenerating load, through the regenerated energy that obtains from AC motor 13, the terminal voltage of smmothing capacitor 2 is raised.
The voltage detection value Vpn of the smmothing capacitor that sequence circuit 70 comparison working voltage detection circuits 5 detect and the set point of coefficient multiplier 75; When Vpn＞(set point of coefficient multiplier 75); Switching circuit 73 is switched to the B side from the A side; Thus with frequency instruction from frequency instruction 1 (fref1; Frequency instruction is provided with the output of device 72) switch to frequency instruction 2 (fref2, the output of frequency instruction counting circuit 71), and frequency instruction 2 (fref2) is exported as frequency instruction (fref).
Voltage instruction counting circuit 8 calculates the output voltage instruction based on the frequency instruction (fref) that sends from sequence circuit 70; Pwm control circuit 9 is exported signals based on the output signal that sends from voltage instruction counting circuit 8 to base drive circuit 10, and base drive circuit 10 is based on the output signal drives inverter circuit 3 from pwm control circuit 9.
Below, use description to calculate the method for the frequency instruction of when Vpn＞(set point of coefficient multiplier 75), selecting 2 (fref2).
Energy object value counting circuit 78 coefficient of utilization multipliers 76 and 77 set point are calculated the energy object value (C * Vpnc of storage in smmothing capacitor 2
2)/2, and the terminal voltage probe value Vpn of the output valve of circuit for calculating energy 79 coefficient of utilization multipliers 77 and the smmothing capacitor 2 that sends from voltage detection circuit 5 calculates the energy value (C * Vpn of actual storage smmothing capacitor 2
2)/2.
Subtracter 80 deducts the output valve and the output energy deviation of energy object value counting circuit 78 from the output valve of circuit for calculating energy 79; Restricting circuits 83 is restricted to lower limit zero with the output valve of subtracter 80, and the set point that the output valve of restricting circuits 83 multiply by coefficient multiplier 82 is to obtain power export target value Pref.The reason that restricting circuits 83 is restricted to lower limit zero with above-mentioned energy deviation is for example to prevent because the fluctuation in the terminal voltage of smmothing capacitor and along the deceleration direction executable operations.
Divider 86 through with above-mentioned power deviation Δ P divided by the speed f of the AC motor of describing afterwards 13 the calculating torque desired value.Torque limit circuit 87 utilizes the value torque-limiting desired value of considering that machine upkeep is confirmed.The output valve of torque limit circuit 87 multiply by the set point of coefficient multiplier 88, and obtains to quicken desired value.
And then difference frequency counting circuit 92 uses the output valve of torque limit circuit 87 to calculate difference frequency.Subtracter 91 is from deduct the speed f of difference frequency and output AC motor 13 the last time from the frequency instruction (fref) of delay circuit 93 outputs.Adder 89 is added to the difference frequency of exporting from difference frequency counting circuit 92 from the acceleration desired value and the adding of coefficient multiplier 88 outputs with the speed f of AC motor 13, obtains frequency instruction (fref2) thus.
As stated; Use the target voltage Vpnc and the probe value Vpn rated output export target value Pref thereof of the terminal voltage of smmothing capacitor 2; And consider the power loss value corrected power export target value Pref of the machine that comprises circuit control device 20 ' and AC motor 13; Calculated rate instruction 2 (fref2) thus, the deviation delta P between this frequency instruction 2 times power export targets value Pref and power output P becomes 0.
When Vpn＜(set point of coefficient multiplier 75), switching circuit 73 is switched to the A side from the B side; In other words, frequency instruction (fref) is switched to the frequency instruction 1 (fref1) that device 72 outputs are set by frequency instruction from the frequency instruction 2 (fref2) by 71 outputs of frequency instruction counting circuit, and operation is able to recover usually.
Because disposed the minor loop that is used for power controlling output; The torque target value is restricted to predetermined value; And the compensation of such as stated execution difference frequency, the terminal voltage of smmothing capacitor is converged to desired value apace and reliably, can not repeat unnecessary acceleration and deceleration and carry out smooth operation with stopping; Through preventing that producing excessive torque can protect used machine, and can shorten the time of delay before the output of acquisition plan power.
According at power output valve P with from the symbol of the energy deviation between the value of coefficient multiplier 82 output, AC motor 13 not only can be carried out regenerative operation, and can also carry out electronic (power) operation.In the situation that is electronic (power) operational computations power output valve P, thereby add the output of coefficient multipliers 85 through executable operations adder-subtracter 84, the present invention can be implemented more effectively.
In addition, be set as the steady state value as the set point of coefficient multiplier 85 though comprise the loss value of the machine of circuit control device 20 ' and AC motor 13, obvious this loss value strictly is expressed as the function of the output current of inverter etc. and is merged in.
And then, though the frequency instruction (fref) that use is exported the last time obtains the speed f of AC motor 13, combining to be used for surveying the perhaps situation of the circuit of estimating speed, the probe value or the estimated value of all right operating speed.
And, though in above-mentioned explanation, the AC motor is described as induction machine, even use the AC motor of synchronous machine for example to substitute induction machine, also embodiment of the present invention similarly.In this case, the output of difference frequency counting circuit 92 should only be set as zero.
In addition; Though considered loss and the loss in the machine that comprises the AC motor in the circuit control device, considered machine upkeep and in the situation of using induction machine, considered compensation to difference frequency; Configuration is described, but these any one or any combinations of a plurality of considerations in considering all can be used.Even in this situation, each effect also remains unchanged.
And then; Used based on power export target value and power output valve speed command counting circuit embodiment 1 is described, and used the frequency instruction counting circuit that is used for the calculated rate instruction to substitute operating speed command calculations circuit embodiment 2 is described according to the output valve computational speed instruction of state during instant cut-off or voltage detection circuit; Yet even in embodiment 1, be used for the counting circuit of calculated rate instruction and be used for the counting circuit that computational speed is instructed at embodiment 2, the present invention also can be implemented similarly.
Industrial usability
The present invention be applicable to instant cut-off therein possibly take place and can carry out regenerative operation drive motors all circuit control devices and be applicable to the method for the said circuit control device of operation.
Claims (8)
1. circuit control device comprises:
As the AC motor of load,
Rectification circuit, said rectification circuit are used for the AC power conversions from AC power supplies is become DC electric power,
Smmothing capacitor, said smmothing capacitor are used for level and smooth dc voltage from said rectification circuit,
Inverter circuit, said inverter circuit are used for the DC power conversions via said smmothing capacitor supply is become desired frequency,
Current detection circuit, said current detection circuit are used to survey the output current from said inverter circuit,
Voltage detection circuit, said voltage detection circuit are used to survey the terminal voltage Vpn of said smmothing capacitor,
Speed command counting circuit, said speed command counting circuit calculate employed power-off time speed command under the situation of judging said AC power supplies outage,
Output voltage command calculations circuit, said output voltage command calculations circuit calculates the voltage instruction to said AC motor based on outage detectable signal, common time speed command and power-off time speed command;
Wherein, said speed command counting circuit comprises:
Power calculation circuit utilizes said output current and said voltage instruction to come the rated output output valve;
The power target counting circuit, the condenser capacitance C of desired value Vpnc and said smmothing capacitor when utilizing the outage of said terminal voltage Vpn, predefined said terminal voltage is according to (C * Vpnc
2Rated output export target value is come in)/2,
Calculate said power-off time speed command based on said power export target value and said power output valve.
2. according to the circuit control device of claim 1, wherein
Said speed command counting circuit adds through the symbol based on said power output valve or the power loss value that subtracts said circuit control device is calculated to proofread and correct said power export target value.
3. according to the circuit control device of claim 1, wherein
Said speed command counting circuit adds through the symbol based on said power export target value or the said power loss value that subtracts the machine that comprises the AC motor is calculated to proofread and correct said power export target value.
4. according to the circuit control device of claim 1, wherein
Said speed command counting circuit calculates to proofread and correct said torque target value through the speed command calculating torque desired value of using the deviation between said power export target value and said power output valve and export the last time.
5. according to the circuit control device of claim 1, wherein
Said speed command counting circuit restriction is based on the torque target value of the velocity information acquisition of said power export target value and said AC motor.
6. according to the circuit control device of claim 1, wherein
At said AC motor is in the situation of induction machine, and said speed command counting circuit calculates the slip speed instruction through use based on the torque target value of the velocity information acquisition of said power export target value and said AC motor and proofreaies and correct said slip speed instruction.
7. circuit control device comprises:
As the AC motor of load,
Rectification circuit, said rectification circuit are used for the AC power conversions from AC power supplies is become DC electric power,
Smmothing capacitor, said smmothing capacitor are used for level and smooth dc voltage from said rectification circuit,
Inverter circuit, said inverter circuit are used for the DC power conversions via said smmothing capacitor supply is become desired frequency,
Current detection circuit, said current detection circuit are used to survey the output current from said inverter circuit,
Voltage detection circuit, said voltage detection circuit are used to survey the terminal voltage Vpn of said smmothing capacitor,
Frequency instruction counting circuit, said frequency instruction counting circuit are used to calculate the employed frequency instruction under the situation more than the set point at said terminal voltage Vpn,
Output voltage command calculations circuit; Said output voltage command calculations circuit be used for based on said terminal voltage Vpn whether more than the set point, temporal frequency instruction and at said terminal voltage Vpn employed said frequency instruction under the situation more than the set point usually; Calculate voltage instruction to said AC motor
Wherein, said frequency instruction counting circuit comprises:
Power calculation circuit utilizes said output current and said voltage instruction to come the rated output output valve;
The power target counting circuit utilizes the desired value Vpnc that prevents overvoltage when operation of said terminal voltage Vpn, predefined said terminal voltage and the condenser capacitance C of said smmothing capacitor, according to (C * Vpnc
2Rated output export target value is come in)/2,
Calculate said frequency instruction based on said power export target value and said power output valve.
8. one kind is used to solve the fluctuation of the AC power supplies that is used for circuit control device or the method for operation of instant cut-off, and said circuit control device comprises:
AC motor as load;
Be used for to become from the AC power conversions of AC power supplies the rectification circuit of DC electric power;
Be used for smoothly smmothing capacitor from the dc voltage of said rectification circuit;
The inverter circuit of the frequency that is used for to become desired via the DC power conversions of said smmothing capacitor supply;
Be used to survey the current detection circuit of the output current of said inverter;
Voltage detection circuit with the terminal voltage Vpn that is used to survey said smmothing capacitor;
Speed command counting circuit, said speed command counting circuit calculate employed power-off time speed command under the situation of judging said AC power supplies outage,
Output voltage command calculations circuit, said output voltage command calculations circuit calculates the voltage instruction to said AC motor based on outage detectable signal, common time speed command and power-off time speed command;
Said method of operation may further comprise the steps:
Utilize said output current and said voltage instruction to come the rated output output valve;
The condenser capacitance C of desired value Vpnc and said smmothing capacitor when utilizing the outage of said terminal voltage Vpn, predefined said terminal voltage is according to (C * Vpnc
2Rated output export target value is come in)/2;
Calculate said power-off time speed command based on said power export target value and said power output valve.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP178124/2006 | 2006-06-28 | ||
| JP2006178124A JP4831527B2 (en) | 2006-06-28 | 2006-06-28 | Voltage source inverter device and operation method thereof |
| JP2006216779A JP4831530B2 (en) | 2006-08-09 | 2006-08-09 | AC motor inverter control device and control method thereof |
| JP216779/2006 | 2006-08-09 | ||
| PCT/JP2007/060920 WO2008001572A1 (en) | 2006-06-28 | 2007-05-29 | Inverter control device and its operation method |
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| CN101479928A CN101479928A (en) | 2009-07-08 |
| CN101479928B true CN101479928B (en) | 2012-08-22 |
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| CN2007800244377A Active CN101479928B (en) | 2006-06-28 | 2007-05-29 | Inverter control device and its operation method |
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| JP (1) | JP4831527B2 (en) |
| CN (1) | CN101479928B (en) |
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| TWI473414B (en) * | 2013-03-07 | 2015-02-11 | Mitsubishi Electric Corp | Ac motor driving system |
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| FR2977997B1 (en) * | 2011-07-12 | 2013-07-12 | Schneider Toshiba Inverter | CONTROL METHOD IMPLEMENTED IN A SPEED DRIVE FOR CONTROLLING THE DECELERATION OF AN ELECTRIC MOTOR IN CASE OF POWER SUPPLY BREAK |
| CN102684583B (en) * | 2012-05-28 | 2014-12-10 | 西北工业大学 | Big inertia load permanent magnet synchronous motor drive outage-restarting control method and device |
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| CN105103437B (en) * | 2013-03-29 | 2018-05-15 | 松下知识产权经营株式会社 | The service regulation method of motor drive |
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| CN101479928A (en) | 2009-07-08 |
| JP4831527B2 (en) | 2011-12-07 |
| JP2008011621A (en) | 2008-01-17 |
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