CN101479928B - Inverter control device and its operation method - Google Patents
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Abstract
本发明提供一种逆变器控制器和用于操作该逆变器控制器的方法,使得在瞬间断电期间或者在再生操作期间能够连续操作,而不要求困难的调节并且在过压或欠压下不引起跳闸或者不必要的转矩脉动。一种配备有用于探测平滑电容器(2)的端子电压的电压探测电路(5)和用于探测AC电源中的瞬间断电的速度指令选择电路(6)的逆变器控制器(20)具有用于计算其功率输出的功率计算电路(36)和用于计算在瞬间断电期间的功率输出目标值和速度指令值的速度指令计算电路(7)。
The present invention provides an inverter controller and a method for operating the inverter controller that enable continuous operation during momentary power outages or during regenerative operation without requiring difficult regulation and during overvoltage or undervoltage Depression does not cause tripping or unnecessary torque ripple. An inverter controller (20) equipped with a voltage detection circuit (5) for detecting a terminal voltage of a smoothing capacitor (2) and a speed command selection circuit (6) for detecting a momentary power failure in an AC power supply has A power calculation circuit (36) for calculating its power output and a speed command calculation circuit (7) for calculating a power output target value and a speed command value during momentary power failure.
Description
技术领域 technical field
本发明涉及一种用于以变速方式控制AC电机的逆变器控制器,并且更具体地,涉及一种逆变器控制器和用于操作该逆变器控制器的方法,使得在瞬间断电期间能够连续操作并且在AC电机减速期间能够处理再生能量,并且AC电机在再生负载下操作。The present invention relates to an inverter controller for controlling an AC motor in a variable speed manner, and more particularly, to an inverter controller and a method for operating the inverter controller such that the Capable of continuous operation during electrical periods and capable of handling regenerative energy during deceleration of the AC motor, and the AC motor operates under regenerative load.
背景技术 Background technique
在第一传统逆变器控制器的情形中,根据它在瞬间断电期间的操作方法,当平滑电容器的端子电压(中间电压)降低到水平1或者更低时,AC电机被减速,当由于通过减速获得的再生电力,中间电压升高到水平2或者更高时,AC电机加速,并且如上所述随后根据中间电压的升高或者降低而重复加速/减速控制,由此中间电压的下降速率被降低(例如,参考专利文献1)。In the case of the first conventional inverter controller, according to its operation method during momentary power failure, when the terminal voltage (intermediate voltage) of the smoothing capacitor drops to
在第二传统逆变器控制器的情形中,逆变器控制器使用断电探测信号而开始减速,基于目标值和DC中间电压的探测值计算减速速率1从而在减速期间DC中间电压变得恒定,基于DC中间电压的变化速率计算减速速率2,并且通过成比例地对通过将这两个减速速率相乘而获得的值积分而控制减速时间,由此当DC中间电压达到在断电探测之前的电压或者在减速期间升高时停止减速(例如,参考专利文献2)。In the case of the second conventional inverter controller, the inverter controller starts deceleration using the power-off detection signal, calculates a
在第三传统逆变器控制器的情形中,当输出频率降低并且电机减速时,主电路的电压值(相应于平滑电容器的端子电压值)升高;根据所探测到的主电路的电压值控制电机的减速时间从而当电压探测值高于预定的第一电压值时,减速时间被延长,并且从而当电压探测值达到高于第一电压值的第二电压值时,停止减速(例如,参考专利文献3)。In the case of the third conventional inverter controller, when the output frequency decreases and the motor decelerates, the voltage value of the main circuit (corresponding to the terminal voltage value of the smoothing capacitor) rises; according to the detected voltage value of the main circuit The deceleration time of the motor is controlled so that when the voltage detection value is higher than a predetermined first voltage value, the deceleration time is extended, and thus when the voltage detection value reaches a second voltage value higher than the first voltage value, the deceleration is stopped (for example, Refer to Patent Document 3).
在第四传统逆变器控制器的情形中,当在电机操作期间施加再生负载并且所探测到的DC电压(相应于平滑电容器的端子电压值)超过基准值时,通过将在所探测到的DC电压值和基准值之间的差值乘以常量比例增益而获得将被升高的输出频率,并且执行控制以升高输出频率(例如,参考专利文献4)。In the case of the fourth conventional inverter controller, when the regenerative load is applied during motor operation and the detected DC voltage (corresponding to the terminal voltage value of the smoothing capacitor) exceeds the reference value, by The difference between the DC voltage value and the reference value is multiplied by a constant proportional gain to obtain an output frequency to be raised, and control is performed to raise the output frequency (for example, refer to Patent Document 4).
图8是示出第四传统逆变器控制器的操作的视图,该逆变器控制器用于当例如在其中再生能量在压榨机的下死点处升高的负载条件下使用AC电机时驱动该AC电机。在图中,f表示输出频率、Vdc表示DC母线电压,Vdc0表示DC母线电压失速水平,并且Vdc2表示过压水平。8 is a view showing the operation of a fourth conventional inverter controller for driving when an AC motor is used, for example, under a load condition in which regenerative energy rises at the bottom dead center of the press machine. The AC motor. In the figure, f represents the output frequency, Vdc represents the DC bus voltage, Vdc0 represents the DC bus voltage stall level, and Vdc2 represents the overvoltage level.
当使用减速指令降低输出频率f(在p1处)并且电机减速时,DC母线电压Vdc被来自电机的再生能量升高。当DC母线电压Vdc变成DC母线电压失速水平Vdc0或者更高(在p2和p4处)时,输出频率f被升高以防止过压跳闸。因为输出频率f被升高,再生能量被降低;当DC母线电压Vdc被降低并且变成DC母线电压失速水平Vdc0或者更低(在p3和p5处)时,再次执行减速指令。When the output frequency f is reduced (at p1 ) using the deceleration command and the motor is decelerated, the DC bus voltage Vdc is boosted by regenerative energy from the motor. When the DC bus voltage Vdc becomes the DC bus voltage stall level Vdc0 or higher (at p2 and p4), the output frequency f is raised to prevent overvoltage tripping. Since the output frequency f is raised, regenerative energy is lowered; when the DC bus voltage Vdc is lowered and becomes the DC bus voltage stall level Vdc0 or lower (at p3 and p5), the deceleration command is executed again.
在瞬间断电期间用于传统逆变器控制器的操作方法中,通过调节速度指令或者通过基于平滑电容器的端子电压(中间电压)的水平或者断电探测电路的操作而确定减速速率,为再生操作驱动电机。In the operation method used for conventional inverter controllers during momentary power failure, by adjusting the speed command or by determining the deceleration rate based on the level of the terminal voltage (intermediate voltage) of the smoothing capacitor or the operation of the power failure detection circuit, for regeneration Operate the drive motor.
进而,在当DC母线电压被在AC电机减速和AC电机在再生负载下操作期间的再生能量升高到预定电压或者更高时用于传统逆变器控制器的操作方法中,重复延长减速时间、根据DC母线电压的水平停止减速或者升高输出频率的步骤从而抑制DC母线电压升高,由此防止过压跳闸。Further, in the operation method for the conventional inverter controller when the DC bus voltage is boosted to a predetermined voltage or higher by regenerative energy during deceleration of the AC motor and operation of the AC motor under a regenerative load, the deceleration time is repeatedly extended , Stop the step of decelerating or increasing the output frequency according to the level of the DC bus voltage to suppress the increase of the DC bus voltage, thereby preventing an overvoltage trip.
专利文献1:未审定日本专利申请公开No.Hei 6-165579Patent Document 1: Unexamined Japanese Patent Application Publication No. Hei 6-165579
专利文献2:日本专利No.3201460Patent Document 2: Japanese Patent No. 3201460
专利文献3:日本专利No.3095083Patent Document 3: Japanese Patent No. 3095083
专利文献4:日本专利No.3536695Patent Document 4: Japanese Patent No. 3536695
发明内容 Contents of the invention
本发明所要解决的问题Problem to be solved by the present invention
在用于传统逆变器控制器的操作方法中,探测平滑电容器的端子电压水平,并且根据该电压水平控制减速时间和输出频率;因此,在所述方法被应用于其中被施加到将被驱动的AC电机的负载变化的系统的情形中,难以确定输出频率的控制数量;如果输出频率的变化缓慢,则在欠压或者过压下产生跳闸,或者发生这样的问题,其中减速和加速被重复并且在电机中产生振动。特别地,在所述方法被应用于具有低机械刚度的系统或者设有具有降低的电容的平滑电容器的逆变器控制器的情形中,在DC母线电压(Vpn)中的上/下变化是陡峭的;因此,上述问题显著地发生。In the operation method used for the conventional inverter controller, the terminal voltage level of the smoothing capacitor is detected, and the deceleration time and output frequency are controlled according to the voltage level; In the case of a system where the load of an AC motor changes, it is difficult to determine the control quantity of the output frequency; if the change of the output frequency is slow, a trip occurs under undervoltage or overvoltage, or such a problem occurs in which deceleration and acceleration are repeated And generate vibration in the motor. In particular, in the case where the method is applied to a system with low mechanical stiffness or an inverter controller provided with a smoothing capacitor with reduced capacitance, the up/down variation in the DC bus voltage (Vpn) is steep; thus, the above-mentioned problem occurs significantly.
考虑到这些问题,本发明的一个目的在于提供一种逆变器控制器和一种用于操作逆变器控制器的方法,使得能够连续操作而不要求困难的调节,并且即使在本发明被应用于具有低机械刚度的系统或者设有具有降低的电容的平滑电容器的逆变器控制器的情形中,在瞬间断电期间或者在AC电机减速和AC电机在再生负载下操作期间也不会在过压或者欠压下引起跳闸。In view of these problems, it is an object of the present invention to provide an inverter controller and a method for operating an inverter controller that enable continuous operation without requiring difficult adjustments, and even when the present invention is implemented In the case of being applied to a system with low mechanical rigidity or an inverter controller provided with a smoothing capacitor with reduced capacitance, it will not occur during momentary power failure or during deceleration of the AC motor and operation of the AC motor under a regenerative load Causes a trip on overvoltage or undervoltage.
用于解决所述问题的方法The method used to solve the problem
为了解决上述问题,本发明被如下所述那样进行配置。In order to solve the above-mentioned problems, the present invention is configured as described below.
根据本发明的一个方面,涉及一种逆变器控制器,包括:According to one aspect of the present invention, it relates to an inverter controller, comprising:
作为负载的AC电机,AC motor as load,
整流电路,所述整流电路用于将来自AC电源的AC电力转换成DC电力,a rectification circuit for converting AC power from an AC power source into DC power,
平滑电容器,所述平滑电容器用于平滑来自所述整流电路的DC电压,a smoothing capacitor for smoothing the DC voltage from the rectification circuit,
逆变器电路,所述逆变器电路用于将经由所述平滑电容器供应的DC电力转换成所期望的频率,an inverter circuit for converting the DC power supplied via the smoothing capacitor into a desired frequency,
电流探测电路,所述电流探测电路用于探测来自所述逆变器电路的输出电流,a current detection circuit for detecting an output current from the inverter circuit,
电压探测电路,所述电压探测电路用于探测所述平滑电容器的端子电压Vpn,a voltage detection circuit for detecting the terminal voltage Vpn of the smoothing capacitor,
速度指令计算电路,所述速度指令计算电路计算在判断所述AC电源断电的情况下所使用的断电时间速度指令,a speed command calculation circuit that calculates a power-off time speed command used in a case where the AC power supply is judged to be power-off,
输出电压指令计算电路,所述输出电压指令计算电路基于断电探测信号、通常时间速度指令和断电时间速度指令,计算向所述AC电机的电压指令;an output voltage command calculation circuit that calculates a voltage command to the AC motor based on a power failure detection signal, a normal time speed command, and a power failure time speed command;
其中,所述速度指令计算电路包括:Wherein, the speed command calculation circuit includes:
功率计算电路,利用所述输出电流和所述电压指令来计算功率输出值;a power calculation circuit, using the output current and the voltage command to calculate a power output value;
功率目标计算电路,利用所述端子电压Vpn、预先设定的所述端子电压的断电时目标值Vpnc和所述平滑电容器的电容器电容C,根据(C×Vpnc2)/2来计算功率输出目标值,a power target calculation circuit that calculates a power output based on (C×Vpnc 2 )/2 using the terminal voltage Vpn, a preset target value Vpnc of the terminal voltage at power-off time, and the capacitor capacitance C of the smoothing capacitor target value,
基于所述功率输出目标值和所述功率输出值来计算所述断电时间速度指令。The power-off time speed command is calculated based on the power output target value and the power output value.
根据本发明的一个方面,涉及一种逆变器控制器,包括:According to one aspect of the present invention, it relates to an inverter controller, comprising:
作为负载的AC电机,AC motor as load,
整流电路,所述整流电路用于将来自AC电源的AC电力转换成DC电力,a rectification circuit for converting AC power from an AC power source into DC power,
平滑电容器,所述平滑电容器用于平滑来自所述整流电路的DC电压,a smoothing capacitor for smoothing the DC voltage from the rectification circuit,
逆变器电路,所述逆变器电路用于将经由所述平滑电容器供应的DC电力转换成所期望的频率,an inverter circuit for converting the DC power supplied via the smoothing capacitor into a desired frequency,
电流探测电路,所述电流探测电路用于探测来自所述逆变器电路的输出电流,a current detection circuit for detecting an output current from the inverter circuit,
电压探测电路,所述电压探测电路用于探测所述平滑电容器的端子电压Vpn,a voltage detection circuit for detecting the terminal voltage Vpn of the smoothing capacitor,
频率指令计算电路,所述频率指令计算电路用于计算在所述端子电压Vpn在设定值以上的情况下所使用的频率指令,a frequency command calculation circuit for calculating a frequency command used when the terminal voltage Vpn is equal to or greater than a set value,
输出电压指令计算电路,所述输出电压指令计算电路用于基于所述端子电压Vpn是否在设定值以上、通常时间频率指令、和在所述端子电压Vpn在设定值以上的情况下所使用的所述频率指令,来计算向所述AC电机的电压指令,an output voltage command calculation circuit for use based on whether or not the terminal voltage Vpn is above a set value, a normal time frequency command, and when the terminal voltage Vpn is above a set value of the frequency command to calculate a voltage command to the AC motor,
其中,所述频率指令计算电路包括:Wherein, the frequency command calculation circuit includes:
功率计算电路,利用所述输出电流和所述电压指令来计算功率输出值;a power calculation circuit, using the output current and the voltage command to calculate a power output value;
功率目标计算电路,利用所述端子电压Vpn、预先设定的所述端子电压的防止过电压操作时的目标值Vpnc和所述平滑电容器的电容器电容C,根据(C×Vpnc2)/2来计算功率输出目标值,The power target calculation circuit uses the terminal voltage Vpn, a preset target value Vpnc of the terminal voltage at the time of overvoltage prevention operation, and the capacitor capacitance C of the smoothing capacitor, according to (C×Vpnc 2 )/2 Calculate the power output target value,
基于所述功率输出目标值和所述功率输出值来计算所述频率指令。The frequency command is calculated based on the power output target value and the power output value.
根据本发明的另外一个方面,涉及一种用于解决用于逆变器控制器的AC电源的波动或者瞬间断电的操作方法,所述逆变器控制器包括:According to another aspect of the present invention, it relates to an operation method for solving fluctuations or momentary power failures of AC power for an inverter controller, the inverter controller comprising:
作为负载的AC电机;AC motor as load;
用于将来自AC电源的AC电力转换成DC电力的整流电路;A rectification circuit for converting AC power from an AC power source into DC power;
用于平滑来自所述整流电路的DC电压的平滑电容器;a smoothing capacitor for smoothing the DC voltage from the rectification circuit;
用于将经由所述平滑电容器供应的DC电力转换成所期望的频率的逆变器电路;an inverter circuit for converting DC power supplied via the smoothing capacitor into a desired frequency;
用于探测所述逆变器的输出电流的电流探测电路;a current detection circuit for detecting the output current of the inverter;
和用于探测所述平滑电容器的端子电压Vpn的电压探测电路;and a voltage detection circuit for detecting a terminal voltage Vpn of the smoothing capacitor;
速度指令计算电路,所述速度指令计算电路计算在判断所述AC电源断电的情况下所使用的断电时间速度指令,a speed command calculation circuit that calculates a power-off time speed command used in a case where the AC power supply is judged to be power-off,
输出电压指令计算电路,所述输出电压指令计算电路基于断电探测信号、通常时间速度指令和断电时间速度指令,计算向所述AC电机的电压指令;an output voltage command calculation circuit that calculates a voltage command to the AC motor based on a power failure detection signal, a normal time speed command, and a power failure time speed command;
所述操作方法包括以下步骤:The method of operation comprises the following steps:
利用所述输出电流和所述电压指令来计算功率输出值;calculating a power output value by using the output current and the voltage command;
利用所述端子电压Vpn、预先设定的所述端子电压的断电时目标值Vpnc和所述平滑电容器的电容器电容C,根据(C×Vpnc2)/2来计算功率输出目标值;Using the terminal voltage Vpn, the preset target value Vpnc of the terminal voltage at power-off time, and the capacitor capacitance C of the smoothing capacitor, the power output target value is calculated according to (C×Vpnc 2 )/2;
基于所述功率输出目标值和所述功率输出值来计算所述断电时间速度指令。The power-off time speed command is calculated based on the power output target value and the power output value.
本发明的效果Effect of the present invention
利用本发明,Utilize the present invention,
能够基于沿着平滑电容器2的端子的目标电压和探测电压确定减速指令的回路内部配置用于控制逆变器控制器的功率输出的回路,并且平滑电容器的端子电压的目标值能够被快速地收敛。A loop for controlling the power output of the inverter controller is configured inside a loop capable of determining a deceleration command based on the target voltage and the detected voltage along the terminals of the smoothing capacitor 2, and the target value of the terminal voltage of the smoothing capacitor can be rapidly converged .
进而,利用本发明,能够对逆变器控制器的功率损耗值加以考虑,并且利用本发明,能够对包括AC电机的机器的功率损耗值加以考虑;因此,即使在其中沿着平滑电容器的端子的目标电压和探测电压彼此一致的状态中,也能够执行平滑的减速操作,而且不必要的减速停止和减速不被重复。Furthermore, with the present invention, the power loss value of the inverter controller can be considered, and with the present invention, the power loss value of the machine including the AC motor can be considered; therefore, even in it along the terminals of the smoothing capacitor Even in a state where the target voltage and the detection voltage of the target voltage coincide with each other, smooth deceleration operation can be performed, and unnecessary deceleration stops and decelerations are not repeated.
而且,利用本发明,通过限制转矩目标值,能够防止产生过大转矩,由此能够保护所被使用的机器。Furthermore, with the present invention, by limiting the torque target value, excessive torque can be prevented from being generated, thereby enabling the protection of the machine used.
进一步,利用本发明,在其中用作被使用负载的AC电机是感应电机的情形中,能够补偿差频,由此能够缩短在直至获得计划再生电力之前的延迟时间。Further, with the present invention, in the case where the AC motor serving as the used load is an induction motor, the difference frequency can be compensated, whereby the delay time until scheduled regenerative power is obtained can be shortened.
附图说明 Description of drawings
图1是示出根据本发明的第一实施例的逆变器控制器整体的概略配置图表;FIG. 1 is a schematic configuration diagram showing the whole of an inverter controller according to a first embodiment of the present invention;
图2是根据本发明的第一实施例用于在断电探测期间选择速度指令的速度指令选择电路6的框图;2 is a block diagram of a speed
图3是根据本发明的第一实施例的速度指令计算电路7的框图;FIG. 3 is a block diagram of a speed command calculation circuit 7 according to a first embodiment of the present invention;
图4是在断电发生时的时序图;Figure 4 is a timing diagram when a power outage occurs;
图5是示出根据本发明的第二实施例的逆变器控制器整体的概略配置图表;5 is a schematic configuration diagram showing the whole of an inverter controller according to a second embodiment of the present invention;
图6是根据本发明的第二实施例的时序电路70的框图;FIG. 6 is a block diagram of a
图7是根据本发明的第二实施例的频率指令计算电路71的框图;和FIG. 7 is a block diagram of a frequency
图8是示意现有技术的操作的时序图。FIG. 8 is a timing chart illustrating the operation of the related art.
附图标记reference sign
1 整流电路1 rectifier circuit
2 平滑电容器2 smoothing capacitor
3 逆变器电路3 inverter circuit
4 电流探测电路4 Current detection circuit
5 电压探测电路5 voltage detection circuit
6 速度指令选择电路6 Speed command selection circuit
7 速度指令计算电路7 Speed command calculation circuit
8 电压指令计算电路8 Voltage command calculation circuit
9 PWM控制电路9 PWM control circuit
10 基极驱动电路10 base drive circuit
11 电磁接触器11 Electromagnetic contactor
12 速度指令设置器12 Speed command setter
13 AC电机13 AC motors
20,20’ 逆变器控制器20, 20’ inverter controller
21 开关电路21 switch circuit
22 软起动器22 soft starter
23 OR电路23 OR circuit
24 比较器24 Comparators
25、31、32、61、62、63 系数乘法器25, 31, 32, 61, 62, 63 Coefficient multipliers
34 能量目标值计算电路34 Energy target value calculation circuit
35 能量计算电路35 Energy Calculation Circuit
36 功率计算电路36 power calculation circuit
37、60 减法器37, 60 Subtractor
40 加法器-减法器40 Adder-subtractor
49 延迟电路49 delay circuit
52 除法器52 Divider
53 转矩限制电路53 Torque limit circuit
58 差频计算电路58 difference frequency calculation circuit
59、64 加法器59, 64 adder
70 时序电路70 sequential circuit
71 频率指令计算电路71 Frequency instruction calculation circuit
72 频率指令设置器72 Frequency command setter
73 开关电路73 switch circuit
74 比较器74 Comparator
75、76、77、82、85、88 系数乘法器75, 76, 77, 82, 85, 88 coefficient multiplier
78 能量目标值计算电路78 Energy target value calculation circuit
79 能量计算电路79 Energy Calculation Circuit
80、91 减法器80, 91 Subtractor
81 功率计算电路81 power calculation circuit
83 限制电路83 Limiting circuit
84 加法器-减法器84 Adder-subtractor
86 除法器86 divider
87 转矩限制电路87 Torque limit circuit
89、90 加法器89, 90 adder
92 差频计算电路92 difference frequency calculation circuit
93 延迟电路93 delay circuit
a 断电探测接触信号a power failure detection contact signal
b 断电时间速度指令b power-off time speed command
c 速度指令c speed command
d 输出电压指令d output voltage command
e 输出电流探测e output current detection
f 断电探测信号f power failure detection signal
g 通常时间速度指令g Usually time speed command
具体实施方式 Detailed ways
将基于附图描述根据本发明的实施例和根据本发明的方法的具体实例。Embodiments according to the present invention and specific examples of the method according to the present invention will be described based on the drawings.
实施例1Example 1
图1是示出根据本发明的逆变器控制器整体的概略配置图表。在图1中,数字1代表用于将来自AC电源的AC电力转换成DC电力的整流电路,数字2代表用于平滑来自整流电路1的DC电压的平滑电容器,数字3代表用于将经由平滑电容器2供应的DC电力转换成所期望的频率的逆变器电路3,数字4代表用于探测逆变器电路的输出电流的电流探测电路,数字5代表用于探测平滑电容器2的端子电压的电压探测电路,数字6代表用于根据断电状态是否已经发生而选择速度指令的速度指令选择电路,数字7代表用于在断电探测期间计算速度指令的速度指令计算电路,数字8代表用于基于从速度指令选择电路6发出的速度指令而计算输出电压指令的输出电压指令计算电路,数字9代表用于基于从速度指令选择电路6发出的输出信号而PWM控制逆变器电路3的PWM控制电路,并且数字10代表用于基于来自PWM控制电路9的输出信号而驱动逆变器电路3的基极驱动电路;逆变器控制器包括这些构件。FIG. 1 is a schematic configuration diagram showing the whole of an inverter controller according to the present invention. In Fig. 1,
数字11代表AC电源侧上的电磁接触器,数字12代表用于设定通常操作期间的速度指令的速度指令设置器,并且数字13代表通过逆变器电路3的输出驱动的AC电机;这些构件被连接到逆变器控制器20。Numeral 11 denotes an electromagnetic contactor on the AC power supply side, numeral 12 denotes a speed command setter for setting a speed command during normal operation, and numeral 13 denotes an AC motor driven by the output of the inverter circuit 3; these members is connected to the
本发明不同于现有技术之处在于,提供用于根据断电状态是否已经发生而选择速度指令的速度指令选择电路6和用于计算断电时间速度指令的速度指令计算电路7;速度指令计算电路7在用于基于平滑电容器2的目标电压Vpnc和探测电压Vpn确定减速指令的回路内部设有用于控制逆变器控制器20的功率输出的回路,并且进一步设有用于限制转矩目标值的转矩限制电路53和其它电路。The present invention is different from the prior art in that it provides a speed
图2是用于根据断电状态是否已经发生而选择速度指令的速度指令选择电路6的框图。在图2中,速度指令选择电路6具有用于设定UV水平1的开关电路21、软起动器22、OR电路23、比较器24和系数乘法器25、将OR电路23的输出信号发送到速度指令计算电路7,该OR电路23用于计算来自电磁接触器11的断电探测接触信号和作为断电探测信号的在以后描述的比较器24的输出信号的逻辑OR,并且,进一步向速度指令计算电路7和电压指令计算电路8发送速度指令,通过启动开关电路21并且通过经由软起动器22在速度指令计算电路7的断电时间速度指令和来自速度指令设置器12的通常时间速度指令之间进行切换而选择所述速度指令。FIG. 2 is a block diagram of a speed
比较器24比较来自电压探测电路5的平滑电容器2的端子电压Vpn与系数乘法器25的输出,并且当端子电压Vpn低于系数乘法器25的输出时,比较器24输出UV(欠压)信号“1”。The
图3是用于计算断电时间速度指令的速度指令计算电路7的框图。在图3中,速度指令计算电路7具有用于设定平滑电容器2的端子上的目标电压Vpnc和平滑电容器2的电容C的系数乘法器31和32、用于计算在平滑电容器2中存储的能量的目标值的能量目标值计算电路34、用于计算在平滑电容器2中存储的能量的能量计算电路35、功率计算电路36、减法器37、加法器-减法器40、延迟电路49、除法器52、转矩限制电路53、差频计算电路58、加法器59、减法器60、系数乘法器61、62和63以及加法器64;能量目标值计算电路34使用系数乘法器31和32的输出计算(C×Vpnc2)/2,并且能量计算电路35使用系数乘法器31的输出和从电压探测电路5发送的平滑电容器2的端子电压Vpc计算(C×Vpn2)/2,并且功率计算电路36基于在电流探测电路4处获得的逆变器输出电流探测值和从电压指令计算电路8发送的电压指令值计算功率输出P。FIG. 3 is a block diagram of a speed command calculation circuit 7 for calculating a power-off time speed command. In FIG. 3, the speed command calculation circuit 7 has coefficient
在系数乘法器61中设定用于使得从能量目标值计算电路34和能量计算电路35发送的存储能量的目标值和当前值彼此一致的比例增益,并且系数乘法器61的输出变成功率输出目标值Pref。在系数乘法器62中设定在包括逆变器控制器20和AC电机13的机器中的功率损耗的总值,并且在系数乘法器63中设定相应于用以将转矩转换成加速值的系数的增益,通过使用包括AC电机13的整个负载的惯性矩J的倒数作为指导而获得所述转矩。A proportional gain for making the target value of stored energy sent from the energy target
下面,将描述在速度指令计算电路7中用于计算断电时间速度指令的操作。Next, the operation for calculating the power-off time speed command in the speed command calculation circuit 7 will be described.
使用减法器37获得在上述存储能量的目标值(C×Vpnc2)/2和当前值之间的差值,将该差值乘以增益以获得功率输出目标值Pref。使用加法器-减法器40利用在包括逆变器控制器20和AC电机13的机器中的功率损耗值校正这个功率输出目标值Pref,并且通过功率计算电路36的计算获得在该校正值和功率输出P之间的差值。使用除法器52将该差值除以AC电机13的速度信息ωr^以获得转矩目标值Tref。使用转矩限制电路53限制该转矩目标值Tref,使用在系数乘法器63中设定的增益将其转换成加速指令并且使用加法器54将其增加到当前速度指令ωr^以获得断电时间速度指令。The difference between the above-mentioned target value (C×Vpnc 2 )/2 of stored energy and the current value is obtained using the
虽然在上述说明中,在系数乘法器62中将包括逆变器控制器20和AC电机13的机器的功率损耗值设为设定值,但是该功率损耗值可以被严格地表示成逆变器的输出电流等的函数并且被结合。Although in the above description, the power loss value of the machine including the
进而,在所用电机是感应电机的情形中,还可能的是,使用转矩限制电路53的输出值利用差频计算电路58计算差频,使用加法器59和减法器60对速度指令进行差频补偿,并且速度指令计算电路7的输入/输出速度指令被用作感应电机的基本频率指令从而直至获得计划再生电力之前的延迟时间被缩短。Furthermore, in the case where the motor used is an induction motor, it is also possible to calculate the difference frequency with the difference frequency calculation circuit 58 using the output value of the
而且,虽然使用最后一次输出的速度指令获得AC电机13的速度信息ωr^,在结合用于探测或者估计速度的电路的情形中,还可以使用速度的探测值或者估计值。Also, although the speed information ωr of the
虽然全部考虑了在逆变器控制器20中的功率损耗、在包括AC电机13的机器中的功率损耗以及在所用电机是感应电机的情形中对差频的补偿,从而实现了所述配置,但是这些考虑中的任何一个或者多个考虑的任何组合均可被添加。即使在这种情形中,各个效果也保持不变。Although the configuration is realized taking into account the power loss in the
如上所述,在用以基于平滑电容器2的目标电压Vpnc和探测电压Vpn确定减速指令的回路内部形成用于控制逆变器控制器20的功率输出的回路以控制平滑电容器2的端子电压;进而,考虑到包括逆变器控制器20和AC电机13的机器的功率损耗值计算功率输出目标值,并且使用转矩限制电路53限制转矩目标值。As described above, a loop for controlling the power output of the
利用上述操作,平滑电容器2的端子电压能够快速收敛到目标值;即使在平滑电容器2的目标电压和探测电压彼此一致的状态中,也能够执行平滑减速操作,而且不必要的减速停止和减速不被重复。进而,因为能够防止产生过大转矩,所以能够保护所被使用的机器。With the above operation, the terminal voltage of the smoothing capacitor 2 can quickly converge to the target value; even in a state where the target voltage of the smoothing capacitor 2 and the detected voltage coincide with each other, smooth deceleration operation can be performed, and unnecessary deceleration stops and deceleration does not occur. is repeated. Furthermore, since excessive torque can be prevented from being generated, the equipment used can be protected.
下面,将使用图1、2和3和图4(发生断电时的时序图),描述在根据这个实施例的逆变器控制器20中在断电探测期间的继续操作。Next, using FIGS. 1 , 2 and 3 and FIG. 4 (timing chart when power failure occurs), continued operation during power failure detection in the
图4(a)示出AC电源的接通/断开状态,图4(b)示出断电探测触点的打开/关闭状态,并且图4(c)示出操作指令的状态,图4(d)示出在平滑电容器2的端子电压Vpn中的变化,并且图4(f)示出逆变器控制器20的速度指令。Fig. 4(a) shows the on/off state of the AC power supply, Fig. 4(b) shows the on/off state of the power failure detection contact, and Fig. 4(c) shows the state of the operation command, Fig. 4 (d) shows changes in the terminal voltage Vpn of the smoothing capacitor 2 , and FIG. 4( f ) shows the speed command of the
如果在AC电源中发生瞬间断电,则使用电压探测电路5探测的平滑电容器2的端子电压Vpn下降至欠压探测水平1(UV水平1)或者更低,或者电磁接触器11打开。在压降或者打开操作(无论哪一个更早)的时刻探测到断电。当探测到断电时,速度指令选择电路6使用开关电路21将速度指令从通常时间速度指令切换到断电时间速度指令。If a momentary power failure occurs in the AC power supply, the terminal voltage Vpn of the smoothing capacitor 2 detected using the voltage detection circuit 5 falls to undervoltage detection level 1 (UV level 1) or lower, or the electromagnetic contactor 11 opens. Power failure is detected at the moment of voltage drop or open operation (whichever is earlier). When a power outage is detected, the speed
因为平滑电容器2的端子电压Vpn由于断电变得低于系数乘法器31的预设值,即,目标电压Vpnc,所以使用速度指令计算电路7计算的断电时间速度指令被发出以执行减速,并且AC电机13开始减速;依赖于减速速率和负载的惯性矩J的再生能量经由逆变器电路3对平滑电容器2充电并且升高端子电压Vpn。此时,严格来说,存在相应于逆变器控制器20中的功率损耗和包括AC电机13的机器中的功率损耗的降低。Since the terminal voltage Vpn of the smoothing capacitor 2 becomes lower than the preset value of the
在另一方面,当断电探测信号,即OR电路23的输出信号变成“1”时,速度指令选择电路6向速度指令计算电路7发出断电信号。速度指令计算电路7通过执行上述计算操作而计算断电时间速度指令,将速度指令发送到电压指令计算电路8以减速AC电机13。On the other hand, the speed
进而,在减速速率缓和并且平滑电容器2的端子电压Vpn变得低于目标电压Vpnc的情形中,或者相反,在端子电压Vpn变得更高的情形中,在功率输出目标值Pref和功率输出P之间产生偏差;基于该偏差快速地控制速度指令,并且控制执行为使得端子电压Vpn变得与目标电压Vpnc一致。Furthermore, in the case where the deceleration rate is moderate and the terminal voltage Vpn of the smoothing capacitor 2 becomes lower than the target voltage Vpnc, or conversely, in the case where the terminal voltage Vpn becomes higher, the power output target value Pref and the power output P A deviation is generated between them; the speed command is quickly controlled based on the deviation, and the control is performed so that the terminal voltage Vpn becomes equal to the target voltage Vpnc.
如果在AC电机13减速和停止之前,AC电源的瞬间断电被恢复,则平滑电容器2的端子电压Vpn升高到欠压探测水平1(UV水平1)或者更高,电磁接触器11被关闭,在图2中示出的断电探测信号变成“0”并且速度指令被切换成用于通常操作的速度指令;因此,直至达到速度指令设定值之前,在占用为通常操作所需要的加速/减速时间时执行加速或者减速。If the momentary power failure of the AC power supply is recovered before the
利用上述配置,当在AC电源中发生瞬间断电时,选择断电时间速度指令,执行减速操作,并且由该操作产生的再生能量对平滑电容器2充电并且升高端子电压Vpn;因此,AC电机13被减速并且能够被连续地操作直至它停止,同时防止电压变低;当AC电源的瞬间断电被恢复时,速度指令被切换成用于通常操作的速度指令,由此发出在占用为通常操作所需要的加速/减速时间时执行加速或者减速的速度指令,直至达到速度指令设定值;结果,即使发生瞬间断电,也能够稳定地继续操作。With the above configuration, when a momentary power failure occurs in the AC power supply, the power failure time speed command is selected, the deceleration operation is performed, and the regenerative energy generated by this operation charges the smoothing capacitor 2 and raises the terminal voltage Vpn; therefore, the
将参考附图在下面描述根据本发明的第二实施例。A second embodiment according to the present invention will be described below with reference to the drawings.
实施例2Example 2
图5是示出根据本发明的实施例2的逆变器控制器20’整体的概略配置图表。在图5中,数字1代表整流电路,数字2代表平滑电容器,数字3代表逆变器电路,数字4代表电流探测电路,数字5代表电压探测电路,数字8代表电压指令计算电路,数字9代表PWM控制电路,并且数字10代表基极驱动电路;这些电路执行与图1所示逆变器控制器20的电路的操作类似的操作;数字81代表用于计算逆变器的功率输出的功率计算电路,数字71代表用以基于电压探测电路5和功率计算电路81的输出计算频率指令2(fref2)的频率指令计算电路,并且数字70代表用于对电压探测电路5的输出已经超过基准值进行探测并且用于将频率指令计算电路71的输出(fref2)设为频率指令(fref)的时序电路。Fig. 5 is a schematic configuration diagram showing the whole of an inverter controller 20' according to Embodiment 2 of the present invention. In Figure 5,
进而,数字72代表用于输出用作在通常操作期间的频率指令的频率指令1(fref1)的频率指令设置器,并且数字13代表用作负载的AC电机(在以后被描述成感应电机)。频率指令设置器72结合有用于将频率指令转换成具有加速/减速速率的指令的软启动功能。Further, numeral 72 denotes a frequency command setter for outputting a frequency command 1 (fref1) serving as a frequency command during normal operation, and numeral 13 denotes an AC motor (hereinafter described as an induction motor) serving as a load. The
本发明不同于现有技术之处在于本发明设有时序电路70和频率指令计算电路71;频率指令计算电路71在用以基于平滑电容器2的目标电压Vpnc和探测电压Vpn确定减速指令的回路内部设有用于控制逆变器控制器20’的功率输出的回路,并且还设有用于限制转矩目标值的转矩限制电路87。The present invention is different from the prior art in that the present invention is provided with a
图6是时序电路70的框图。在图6中,数字73代表开关电路,数字74代表比较器,并且数字75代表系数乘法器。FIG. 6 is a block diagram of the
基于平滑电容器的端子电压,系数乘法器75设定用于确定通常操作或者防过压操作被执行的阀值。这个设定值是比在通常操作期间能够获得的平滑电容器的端子电压值更大的值。Based on the terminal voltage of the smoothing capacitor, the
图7是频率指令计算电路71的框图。在图7中,数字76和77代表系数乘法器,数字78代表能量目标值计算电路,数字79代表能量计算电路,数字80代表减法器,数字81代表功率计算电路,数字82代表系数乘法器,数字83代表限制电路,数字84代表加法器-减法器,数字85代表系数乘法器,数字86代表除法器,数字87代表转矩限制电路,数字88代表系数乘法器,数字89和90代表加法器,数字91代表减法器,数字92代表差频计算单元,并且数字93代表延迟电路。FIG. 7 is a block diagram of a frequency
在该图中,在系数乘法器76中设定平滑电容器2的端子电压的目标值Vpnc,在系数乘法器77中设定平滑电容器2的电容C,在系数乘法器82中设定用于将减法器80的输出值控制为零的控制增益,在系数乘法器85中设定在逆变器控制器20’中的损耗值和在包括AC电机13的机器中的损耗值的总值,并且在系数乘法器88中设定1/J(J是包括AC电机13的整个负载的惯性矩)。In this figure, the target value Vpnc of the terminal voltage of the smoothing capacitor 2 is set in the coefficient multiplier 76, the capacitance C of the smoothing capacitor 2 is set in the coefficient multiplier 77, and the target value Vpnc for the smoothing capacitor 2 is set in the coefficient multiplier 82. The output value of the subtractor 80 is controlled to a control gain of zero, the sum of the loss value in the inverter controller 20' and the loss value in the machine including the
另外,等于或者大于平滑电容器的端子电压的基准值的值(系数乘法器75的设定值)被设为Vpnc(系数乘法器76的设定值)。In addition, a value equal to or greater than the reference value of the terminal voltage of the smoothing capacitor (the setting value of the coefficient multiplier 75 ) is set as Vpnc (the setting value of the coefficient multiplier 76 ).
将使用图5到7描述根据本发明的逆变器控制器20’的操作。The operation of the inverter controller 20' according to the present invention will be described using Figs. 5 to 7 .
当使用减速指令降低输出频率f时或者当施加再生负载时,通过从AC电机13获取的再生能量,平滑电容器2的端子电压被升高。When the output frequency f is lowered using a deceleration command or when a regenerative load is applied, the terminal voltage of the smoothing capacitor 2 is raised by regenerative energy obtained from the
时序电路70比较使用电压探测电路5探测到的平滑电容器的电压探测值Vpn与系数乘法器75的设定值;当Vpn>(系数乘法器75的设定值)时,开关电路73被从A侧切换到B侧,由此将频率指令从频率指令1(fref1,频率指令设置器72的输出)切换到频率指令2(fref2,频率指令计算电路71的输出),并且频率指令2(fref2)作为频率指令(fref)输出。The
电压指令计算电路8基于从时序电路70发送的频率指令(fref)计算输出电压指令,PWM控制电路9基于从电压指令计算电路8发送的输出信号向基极驱动电路10输出信号,并且基极驱动电路10基于来自PWM控制电路9的输出信号驱动逆变器电路3。The voltage command calculation circuit 8 calculates an output voltage command based on the frequency command (fref) sent from the
下面,将描述用于计算在Vpn>(系数乘法器75的设定值)时选择的频率指令2(fref2)的方法。Next, a method for calculating the frequency command 2 (fref2) selected when Vpn>(the setting value of the coefficient multiplier 75) will be described.
能量目标值计算电路78使用系数乘法器76和77的设定值计算在平滑电容器2中存储的能量目标值(C×Vpnc2)/2,并且能量计算电路79使用系数乘法器77的输出值和从电压探测电路5发送的平滑电容器2的端子电压探测值Vpn计算在平滑电容器2中实际存储的能量值(C×Vpn2)/2。The energy target value calculation circuit 78 calculates the energy target value (C×Vpnc 2 )/2 stored in the smoothing capacitor 2 using the set values of the coefficient multipliers 76 and 77, and the energy calculation circuit 79 uses the output value of the coefficient multiplier 77 The energy value actually stored in the smoothing capacitor 2 (C×Vpn 2 )/2 is calculated from the terminal voltage detection value Vpn of the smoothing capacitor 2 sent from the voltage detection circuit 5 .
减法器80从能量计算电路79的输出值减去能量目标值计算电路78的输出值并且输出能量偏差,限制电路83将减法器80的输出值限制为下限值零,并且限制电路83的输出值乘以系数乘法器82的设定值以获得功率输出目标值Pref。限制电路83将上述能量偏差限制为下限值零的原因在于防止例如由于在平滑电容器的端子电压中的波动而沿着减速方向执行操作。The subtractor 80 subtracts the output value of the energy target value calculation circuit 78 from the output value of the energy calculation circuit 79 and outputs the energy deviation, the limit circuit 83 limits the output value of the subtractor 80 to the lower limit value zero, and the output value of the limit circuit 83 The value is multiplied by the set value of the coefficient multiplier 82 to obtain the power output target value Pref. The reason why the limitation circuit 83 limits the energy deviation described above to the lower limit value zero is to prevent operation in the deceleration direction from being performed, for example, due to fluctuations in the terminal voltage of the smoothing capacitor.
功率计算电路81使用逆变器输出电流探测值计算逆变器控制器的功率输出值P,使用电流探测电路4和从输出电压指令计算电路8发送的输出电压指令值而获得所述逆变器输出电流探测值。加法器-减法器84从上述功率输出目标值Pref减去上述功率输出值P并且还减去系数乘法器85的设定值并且然后输出功率偏差ΔP。The
除法器86通过将上述功率偏差ΔP除以在以后描述的AC电机13的速度f而计算转矩目标值。转矩限制电路87利用考虑到机器保护确定的值限制转矩目标值。转矩限制电路87的输出值乘以系数乘法器88的设定值,并且获得加速目标值。The divider 86 calculates a torque target value by dividing the above-mentioned power deviation ΔP by the speed f of the
进而,差频计算电路92使用转矩限制电路87的输出值计算差频。减法器91从在最后一次从延迟电路93输出的频率指令(fref)减去差频并且输出AC电机13的速度f。加法器89将AC电机13的速度f加到从系数乘法器88输出的加速目标值并且还加入从差频计算电路92输出的差频,由此获得频率指令(fref2)。Furthermore, the beat frequency calculation circuit 92 calculates the beat frequency using the output value of the torque limiting circuit 87 . The subtractor 91 subtracts the difference frequency from the frequency command (fref) output from the delay circuit 93 at the last time and outputs the speed f of the
如上所述,使用平滑电容器2的端子电压的目标电压Vpnc及其探测值Vpn计算功率输出目标值Pref,并且考虑到包括逆变器控制器20’和AC电机13的机器的功率损耗值校正功率输出目标值Pref,由此计算频率指令2(fref2),在该频率指令2下功率输出目标值Pref和功率输出P之间的偏差ΔP变成0。As described above, the power output target value Pref is calculated using the target voltage Vpnc of the terminal voltage of the smoothing capacitor 2 and its detection value Vpn, and the power is corrected in consideration of the power loss value of the machine including the inverter controller 20' and the
在Vpn<(系数乘法器75的设定值)时,开关电路73被从B侧切换到A侧;换言之,频率指令(fref)被从由频率指令计算电路71输出的频率指令2(fref2)切换到由频率指令设置器72输出的频率指令1(fref1),并且通常操作得以恢复。When Vpn<(the setting value of the coefficient multiplier 75), the
因为配置了用于控制功率输出的小回路,转矩目标值被限制为预定值,并且如上所述那样执行差频补偿,平滑电容器的端子电压被快速地和可靠地收敛到目标值,能够不重复不必要的加速/减速和减速停止地执行平滑操作,通过防止产生过大转矩能够保护所用的机器,并且能够缩短直至获得计划功率输出之前的延迟时间。Since a small loop for controlling power output is configured, the torque target value is limited to a predetermined value, and beat frequency compensation is performed as described above, the terminal voltage of the smoothing capacitor is quickly and reliably converged to the target value, and it is possible to avoid Performing smooth operation repeating unnecessary acceleration/deceleration and deceleration to stop can protect the machine used by preventing excessive torque from being generated, and can shorten the delay time until the planned power output is obtained.
根据在功率输出值P和从系数乘法器82输出的值之间的能量偏差的符号,AC电机13不仅能够执行再生操作,而且还能执行电动(动力)操作。在为电动(动力)操作计算功率输出值P的情形中,通过执行操作从而加法器-减法器84加入系数乘法器85的输出,本发明能够被更加有效地实施。Depending on the sign of the energy deviation between the power output value P and the value output from the coefficient multiplier 82, the
另外,虽然包括逆变器控制器20’和AC电机13的机器的损耗值被设为用作系数乘法器85的设定值的恒定值,但是显然该损耗值被严格地表示成逆变器的输出电流等的函数并且被并入。In addition, although the loss value of the machine including the inverter controller 20' and the
进而,虽然使用在最后一次输出的频率指令(fref)获得AC电机13的速度f,但是在结合用于探测或者估计速度的电路的情形中,还可以使用速度的探测值或者估计值。Furthermore, although the speed f of the
而且,虽然在上述说明中将AC电机描述成感应电机,但是即使使用例如同步电机的AC电机替代感应电机,也能够类似地实施本发明。在此情形中,差频计算电路92的输出应当仅被设为零。Also, although the AC motor is described as an induction motor in the above description, the present invention can be similarly implemented even if an AC motor such as a synchronous motor is used instead of the induction motor. In this case, the output of the beat frequency calculation circuit 92 should simply be set to zero.
此外,虽然已经考虑到逆变器控制器中的损耗和在包括AC电机的机器中的损耗、考虑到机器保护并且在使用感应电机的情形中考虑到对差频的补偿,对配置进行了描述,但是这些考虑中的任何一个或者多个考虑的任何组合均可被使用。即使在这种情形中,各个效果也保持不变。Furthermore, although the configuration has been described taking into account losses in the inverter controller and in machines including AC motors, machine protection and, in the case of using an induction motor, compensation for difference frequency , but any one or any combination of these considerations may be used. Even in this case, the respective effects remain unchanged.
进而,已经使用基于功率输出目标值和功率输出值根据在瞬间断电期间的状态或者电压探测电路的输出值计算速度指令的速度指令计算电路对实施例1进行了描述,并且已经使用用于计算频率指令的频率指令计算电路替代使用速度指令计算电路对实施例2进行了描述;然而,即使在实施例1中使用用于计算频率指令的计算电路并且在实施例2中使用用于计算速度指令的计算电路,本发明也能够被类似地实施。Furthermore,
工业适用性Industrial applicability
本发明适用于在其中瞬间断电可能发生并且可以执行再生操作的驱动电机的所有的逆变器控制器并且还适用于操作所述逆变器控制器的方法。The present invention is applicable to all inverter controllers for driving motors in which a momentary power failure may occur and regenerative operation may be performed and also to a method of operating the inverter controller.
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