CN102035449A - All-in-one gantry crane direct-driving and vector control device - Google Patents
All-in-one gantry crane direct-driving and vector control device Download PDFInfo
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- CN102035449A CN102035449A CN2010106134105A CN201010613410A CN102035449A CN 102035449 A CN102035449 A CN 102035449A CN 2010106134105 A CN2010106134105 A CN 2010106134105A CN 201010613410 A CN201010613410 A CN 201010613410A CN 102035449 A CN102035449 A CN 102035449A
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Abstract
The invention discloses an all-in-one gantry crane direct-driving and vector control device relating to the technical field of gantry crane driving and control. The all-in-one gantry crane direct-driving and vector control device is composed of an all-in-one gantry crane direct-driving device, a vector controller and a power convertor, wherein the output end of the power convertor is connected to the input end of the all-in-one gantry crane direct-driving device, the output end of the all-in-one gantry crane direct-driving device is connected to the input end of the vector controller by a rotary encoder signal wire, and the output end of the vector controller is connected to the power converter. With the help of the modern power electronic technology, the high-performance embedded microcontroller technology and the journey self-memory mode gate width detection technology, the invention can carry out stable, reliable, precise and quick S-curve variable speed control on a permanent magnet synchronous motor driven by the gantry crane aiming at different gate widths.
Description
Technical field
The present invention relates to electromechanical integration and electric and electronic technical field, particularly the door machine drives and the control technology field.
Background technology
The door machine is widely used in the various modern facilities, as elevator, subway, gate control system etc.The door machine drives with control system and is used to control the switch of Electrically operated gate and forms certain switch door speed S curve.Present door machine control system adopts photoelectric encoder to measure rotating speed of motor and position more, though photoelectric encoder has higher resolution, but since with the motor partial installation, in the bigger operational environment of impact, vibration, temperature inversion scope, damage easily, and influence has increased maintenance cost; Present door machine control system can't adapt to the width of institute's control gate automatically, needs constantly to be debugged by the technical staff when mounted to obtain more satisfactory switch door speed S curve; Present door machine drive system adopts high-speed electric expreess locomotive to cooperate the kind of drive of reducing gears such as slider-crank mechanism or crank rocker more, and volume is bigger, installs inconvenient.Driving control system then mainly adopts direct current machine by making decompression speed with its series and parallel resistance, or the variable voltage control method that adopts conventional PWM pulse modulation technology to carry out, its complex structure, efficient is low, speed adjusting performance is poor, especially when low cruise, because adopt series and parallel resistance to realize speed governing, the mechanical property of its motor is very soft.
Therefore can improve the fail safe and the comfortableness of facility, have important practical significance.
Summary of the invention
The object of the invention is that design accuracy height, working stability, volume are little, Installation and Debugging are changed a machine easily and directly driven and vector control apparatus.
The present invention is made up of integrated door machine direct driving device, vector controller and power inverter, the output of described power inverter is connected the input of integrated door machine direct driving device, the output of described integrated door machine direct driving device is connected the input of vector controller by the rotary encoder through signals line, and the output of described vector controller is connected on the power inverter.
Integrated door machine direct driving device of the present invention is included in the rotating shaft that is provided with on the housing, connect the permanent magnet direct driving motor rotor in the rotating shaft in housing, the permanent magnet direct driving motor stator that cooperates with described permanent magnet direct driving motor rotor at the housing internal fixation, connect the signal detector rotor in the rotating shaft in housing, the signal detector stator that cooperates with described signal detector rotor at the housing internal fixation is connected the rotary encoder through signals line respectively on described signal detector rotor and signal detector stator.
Rotor that employing is installed in permagnetic synchronous motor respectively with the rotor and the stator of resolver and the embedded integrated structure of directly driving on the stator, make resolver can in the motor assembling process, directly embed and be installed in motor internal, formed the electromechanical integration architectural framework, save traditional change gear box, reduced device volume.
Vector controller of the present invention comprises the high speed arm processor, the resolver decoder module, switching signal interface module and isolation drive module, one end of described resolver decoder module is connected with the rotary encoder through signals line, the other end of resolver decoder module is connected with an input of high speed arm processor, the output of switching signal interface module is connected another input of high speed arm processor, the output of high speed arm processor is connected the input of isolation drive module, and the output of described isolation drive module is connected on the power inverter.
High speed arm processor of the present invention comprises SVPWM segmentation and optimal control module, stroke is from remembering the wide detection module of mode door, position and speed computing module and motor speed S curve controlled module, the output of resolver decoder module is connected the input of position and speed computing module, the output of position and speed computing module connects motor speed S curve controlled module respectively and stroke is remembered the wide detection module of mode door certainly, the output of switching signal interface module is connected to motor speed S curve controlled module and stroke from the input of remembering the wide detection module of mode door, and the output of motor speed S curve controlled module is connected the input of SVPWM segmentation and optimal control module.
The output of described switching signal interface module is connected with motor speed S curve controlled module by command process module.
Described power inverter comprises the rectifying bridge type circuit that is connected the alternating current input, at two outputs of described rectifying bridge type circuit filter capacitor in parallel, two ends at described filter capacitor connect three-phase power inverter, and described three-phase power inverter is connected with integrated door machine direct driving device, vector controller respectively.
The present invention also is provided with current sensor between the filter capacitor of described power inverter and three-phase power inverter, described current sensor is connected with the optimal control module with the SVPWM segmentation by overcurrent protection module.
The present invention by modern power electronics technology, high-performance embedded microcontroller technology and stroke from remembering the wide detection technique of mode door, can at different gate-widths realize the permagnetic synchronous motor that the opposite house machines drive stable, reliably, accurate S curve speed Control fast.
Have the following advantages:
1, the present invention is owing to adopted Embedded integrated design, make resolver can in the motor assembling process, directly embed and be installed in motor internal, be that permanent-magnetic synchronous motor rotor and resolver rotor are contained in the direct driving device rotating shaft, permanent-magnetic synchronous motor stator and resolver stator are installed on the direct driving device housing, permagnetic synchronous motor and resolver have formed electromechanical integrated structure by direct driving device housing location, this brief, compact integrated door machine direct driving device, promoted the drive controlling precision, strengthened the integral protection grade of product, simplified the system configuration of door machine, conserve space has made things convenient for installation, the work of debugging and repair and maintenance
2, utilization space vector of voltage segmentation modulation and optimisation technique, make the running orbit of space vector of voltage approach circle more, improved voltage utilization, significantly reduce current waveform distortion and the big problem of torque pulsation of traditional SVPWM, improved the conversion efficiency of power inverter and the accuracy of magneto governing system.
3, utilize described stroke from remembering the wide trace routine of mode door, can generate the gate-width data automatically at the door machine of different gate-widths, match with described S curve speed control program, regulate the door machine speed of service of each section of S curve according to the gate-width data adaptive, realize the accurate control of door motor speed optimum, make it be applicable to different in width and the door mechanism system of the mode of opening the door, greatly improved the convenience of Installation and Debugging and the fail safe and the comfortableness of door machine control system.
Description of drawings
Fig. 1 is a general structure schematic diagram of the present invention.
Fig. 2 is an integrated door machine direct driving device structural representation of the present invention.
Fig. 3 is the module frame chart of high speed arm processor of the present invention.
Fig. 4 is that stroke of the present invention is from remembering wide detection of mode door and anti-pinch control flow chart.
Embodiment
As shown in Figure 1, the present invention is made up of integrated door machine direct driving device 1, vector controller 2 and power inverter 3.
Vector controller 2 comprises high speed arm processor 2.1, AD2S1200 resolver decoder module 2.2, switching signal interface module 2.3 and isolation drive module 2.4.One end of resolver decoder module 2.2 is connected with rotary encoder through signals line 4, the other end of resolver decoder module 2.2 is connected with an input of high speed arm processor 2.1, the output of switching signal interface module 2.3 is connected another input of high speed arm processor 2.1, the output of high speed arm processor 2.1 is connected the input of isolation drive module 2.4, and the output of isolation drive module 2.4 is connected on the power inverter 3.
As shown in Figure 2, in integrated door machine direct driving device 1, permanent magnet direct driving motor rotor 1-3 and signal detector rotor 1-5 are installed on respectively on the interior direct driving device rotating shaft 1-6 of housing 1-1, permanent magnet direct driving motor stator 1-2 and signal detector stator 1-4 are installed on respectively in the housing 1-1, and permanent magnet direct driving motor rotor 1-3 and permanent magnet direct driving motor stator 1-2 are cooperatively interacted; Signal detector rotor 1-5 and signal detector stator 1-4 complement each other to form the rotation transformation.Housing 1-1 also is integrated with radial fin 1-7 outward.On signal detector rotor 1-5 and signal detector stator 1-4, be connected the rotary encoder through signals line respectively.When integrated door machine direct driving device 1 applies the sinusoidal excitation signal of certain frequency can for the excitation winding of permagnetic synchronous motor, its resolver output winding voltage amplitude and its rotor angle are the sine and cosine functions relation, and send into AD2S1200 decoder module 2.2, thereby obtain the angle and the position signalling of permagnetic synchronous motor to the data that it the produced computing of decoding.
As shown in Figure 3, the high speed arm processor 2.1 of vector controller 2 comprises SVPWM segmentation and optimal control module 2.1.5, stroke is from remembering the wide detection module 2.1.2 of mode door, position and speed computing module 2.1.1 and motor speed S curve controlled module 2.1.4, the output of resolver decoder module 2.2 is connected the input of position and speed computing module 2.1.1, the output of position and speed computing module 2.1.1 connects motor speed S curve controlled module 2.1.4 respectively and stroke is remembered the wide detection module 2.1.2 of mode door certainly, an output of switching signal interface module 2.3 is connected with motor speed S curve controlled module 2.1.4 by command process module 2.1.6, another output of switching signal interface module 2.3 is connected stroke from the input of remembering the wide detection module 2.1.2 of mode door, and the output of motor speed S curve controlled module 2.1.4 is connected the input of SVPWM segmentation and optimal control module 2.1.5.
The signal output part of current sensor 3.3 is connected with optimal control module 2.1.5 with the SVPWM segmentation by overcurrent protection module 2.1.7.
Become direct current behind the AC rectification of rectifying bridge type circuit 3.1 with input, for three-phase power inverter 3.2 provides dc voltage.Vector controller 2 uses AD2S1200 resolver decoder module 2.2 to provide pumping signal as resolver, the output signal of detected resolver is converted to the digital information that can reflect permanent-magnet synchronous motor rotor position and speed, high speed arm processor 2.1 is being gathered on this data basis, obtains the relevant state information when the Qianmen that the switch door instructs and detects various relays and photoelectric sensor by switching signal interface module 2.3.
SVPWM segmentation and optimal control module 2.1.5 use circular space vector of voltage track in meet positive 6*n (n=1,2,3,4,) limit shape replaces circular space vector of voltage track, circular space vector of voltage track is divided into 6*n part, calculate the on off state on every limit of described inscribed polygon and the action time of this state again, generate the on off state time form corresponding thus with the SVPWM modulation system, be stored among the FPGA again, FPGA generates the SVPWM modulation signal of needed segmentation and optimization by calculating according to instruction, export to isolation drive module 2.4, realize the SVPWM of integrated door machine direct driving device 1 is accurately controlled by three-phase power inverter 3.2 again.
The utilization stroke is from remembering the wide trace routine of mode door, high speed arm processor 2.1 is by the switching signal interface module 2.3 uninterrupted limit signals of opening the door that detect, when detecting the position of noting rotor when door is all opened, the control gate machine is operated in the mode of closing the door then, AD2S1200 resolver decoder module 2.2 is sent into decoded signal by rotary encoder connecting line 4, the position and speed computing module 2.1.1 of high speed arm processor 2.1, thus obtained Position And Velocity variable quantity added up close fully until door, thereby obtain the total kilometres of door machine, and the S opisometer of setting according to motor speed S curve controlled module 2.1.4 is in view of the above calculated under different gate-width conditions the velocity amplitude of motor each position in switch door stroke.Under normal operation mode, according to detected open and close gate signal, by adaptive control algorithm motor is controlled to the rotating speed of target that aforementioned calculation obtains from the rotating speed of current location, just realized the speeds match control of the switch door S curve under the different gate-width conditions, its door machine that is applicable to the different in width and the mode of opening the door is driven and control system, make it be applicable to different in width and the door mechanism system of the mode of opening the door.In addition, realize the anti-pinch safety measure of door machine according to detected smooth curtain sensor and resistance sensor signal at high speed arm processor 2.1 at closing time.Its flow chart as shown in Figure 4.
Claims (7)
1. integrated door machine directly drives and vector control apparatus, it is characterized in that forming by integrated door machine direct driving device, vector controller and power inverter, the output of described power inverter is connected the input of integrated door machine direct driving device, the output of described integrated door machine direct driving device is connected the input of vector controller by the rotary encoder through signals line, and the output of described vector controller is connected on the power inverter.
2. directly drive and vector control apparatus according to the described integrated door machine of claim 1, it is characterized in that described integrated door machine direct driving device is included in the rotating shaft that is provided with on the housing, connect the permanent magnet direct driving motor rotor in the rotating shaft in housing, the permanent magnet direct driving motor stator that cooperates with described permanent magnet direct driving motor rotor at the housing internal fixation, connect the signal detector rotor in the rotating shaft in housing, the signal detector stator that cooperates with described signal detector rotor at the housing internal fixation is connected the rotary encoder through signals line respectively on described signal detector rotor and signal detector stator.
3. directly drive and vector control apparatus according to the described integrated door machine of claim 2, it is characterized in that described vector controller comprises the high speed arm processor, the resolver decoder module, switching signal interface module and isolation drive module, one end of described resolver decoder module is connected with the rotary encoder through signals line, the other end of resolver decoder module is connected with an input of high speed arm processor, the output of switching signal interface module is connected another input of high speed arm processor, the output of high speed arm processor is connected the input of isolation drive module, and the output of described isolation drive module is connected on the power inverter.
4. directly drive and vector control apparatus according to the described integrated door machine of claim 3, it is characterized in that described high speed arm processor comprises SVPWM segmentation and optimal control module, stroke is from remembering the wide detection module of mode door, position and speed computing module and motor speed S curve controlled module, the output of resolver decoder module is connected the input of position and speed computing module, the output of position and speed computing module connects motor speed S curve controlled module respectively and stroke is remembered the wide detection module of mode door certainly, the output of switching signal interface module is connected to motor speed S curve controlled module and stroke from the input of remembering the wide detection module of mode door, and the output of motor speed S curve controlled module is connected the input of SVPWM segmentation and optimal control module.
5. directly drive and vector control apparatus according to the described integrated door machine of claim 4, it is characterized in that the output of described switching signal interface module is connected with motor speed S curve controlled module by command process module.
6. directly drive and vector control apparatus according to the described integrated door machine of claim 1, it is characterized in that described power inverter comprises the rectifying bridge type circuit that is connected the alternating current input, at two outputs of described rectifying bridge type circuit filter capacitor in parallel, two ends at described filter capacitor connect three-phase power inverter, and described three-phase power inverter is connected with integrated door machine direct driving device, vector controller respectively.
7. directly drive and vector control apparatus according to the described integrated door machine of claim 6; it is characterized in that between the filter capacitor of described power inverter and three-phase power inverter current sensor being set, described current sensor is connected with the optimal control module with the SVPWM segmentation by overcurrent protection module.
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| CN2010106134105A CN102035449A (en) | 2010-12-30 | 2010-12-30 | All-in-one gantry crane direct-driving and vector control device |
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| CN2010106134105A CN102035449A (en) | 2010-12-30 | 2010-12-30 | All-in-one gantry crane direct-driving and vector control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111103829A (en) * | 2019-12-11 | 2020-05-05 | 旋智电子科技（上海）有限公司 | Motor control device and method |
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Application publication date: 20110427 |