CN102130649A - Voltage regulation and speed regulation control system of full-digital speed and current double closed-loop alternating current motor - Google Patents
Voltage regulation and speed regulation control system of full-digital speed and current double closed-loop alternating current motor Download PDFInfo
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- CN102130649A CN102130649A CN 201110032323 CN201110032323A CN102130649A CN 102130649 A CN102130649 A CN 102130649A CN 201110032323 CN201110032323 CN 201110032323 CN 201110032323 A CN201110032323 A CN 201110032323A CN 102130649 A CN102130649 A CN 102130649A
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Abstract
The invention relates to a voltage regulation and speed regulation control system of a full-digital speed and current double closed-loop alternating current motor, which is characterized by comprising a speed giving module, a speed PI (proportional integral) regulator, a current PI regulator and a master control module, as well as a display module, a driving module, a current sampling module of the motor, and a speed sampling feedback module of the motor, wherein the display module and the driving module are connected with the master control module, the current sampling module of the motor is connected with a comparator of the current PI regulator, the speed sampling feedback module of the motor is connected with the comparator of the speed PI regulator, the current PI regulator, the master control module, the driving module and the current sampling module of the motor constitute a current closed-loop control system, and the speed PI regulator, the master control module, the driving module and the speed sampling feedback module of the motor constitute a speed closed-loop control system. The voltage regulation and speed regulation control system has the benefits of greatly improving the control technology of a crane, enabling the control performance to be more excellent, simultaneously simplifying the peripheral wiring of an electric control cabinet of the crane, reducing the difficulty in mounting and maintenance and reducing the cost of the system.
Description
Technical field
The invention belongs to crane alternating current motor variable voltage control control technology field, particularly relate to a kind of digital speed current double closed-loop alternating current motor variable voltage control control system.
Background technology
The phase shift link of existing crane variable voltage control control system adopts analog circuit to realize phase shift; Because be subjected to the influence of extraneous factor such as temperature drift, phase shifting accuracy is subjected to certain influence.The speed feedback of existing crane variable voltage control control system adopts rotor frequency F/V conversion acquisition speed signal.The single Closed loop Control of existing many employings of crane variable voltage control control system speed; Single angle from expanding governing, the variable voltage control control system of operating speed list closed loop can satisfy the requirement of crane to speed governing basically.But can't satisfy the dynamic property of requirements at the higher level such as Fast starting, shock load, fast braking.Existing crane variable voltage control control system master makes the control line access to plant also will pass through PLC or auxiliary relay, and the connecting line of whole system is more numerous and diverse.
Summary of the invention
The object of the present invention is to provide a kind of digital speed current double closed-loop alternating current motor variable voltage control control system, control performance advanced person, security of operation, reliable control mode, reduce manufacturing, installation, maintenance cost, improve the fail safe and the reliability of crane simultaneously widely.
The objective of the invention is to be achieved through the following technical solutions.
Digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention, it is characterized in that comprising the velocity setting module, the speed pi regulator that is connected of velocity setting module therewith, the current PI adjuster that is connected of speed pi regulator therewith, the main control module that is connected of current PI adjuster therewith, the display module that is connected with main control module, driver module, the current sampling module of the motor that is connected of the comparator of current PI adjuster therewith, the speed sampling feedback module of the motor that is connected of the comparator of speed pi regulator therewith, respectively with the velocity setting module, the speed pi regulator, the current PI adjuster, main control module, display module, the Switching Power Supply that driver module is connected, the current sampling module of described current PI adjuster-main control module-driver module-motor constitutes the current closed-loop control system, the speed sampling feedback module of described speed pi regulator-main control module-driver module-motor constitutes closed loop speed control system, and described current closed-loop control system and closed loop speed control system constitute speed current double closed-loop alternating current motor variable voltage control control system.
Described driver module is made up of six groups of reverse parallel connection thyristors.
Described main control module comprises that main signal input module, analysis and processing module, the I/O output module, described master of making makes that input voltage is AC220V or DC24V.
Described display module is the display module of full Chinese/English display.
Described master makes that input module hoists with the master of crane respectively, pair hoists, the lead-out wire on the master controller of cart and dolly drive system is connected.
Described speed sampling feedback module adopts the digital filtering control algolithm, and promptly speed sampling all adopts control algolithm, and sampled value is carried out filtering, and the acquisition speed signal also is provided with the rotary encoder interface simultaneously and is connected with the rotary encoder of motor.
The starting process of described speed current double closed-loop comprises the steps:
I stage 0-t1 powers up startup
1) the given voltage of impact
U=Behind the n*,
ID rises, when
ID is less than load current
IDuring dL, motor can't rotate,
2) when
ID 〉=
IBehind the dL, motor begins starting, because dynamo-electric effect of inertia, rotating speed can very fast growth, thereby the numerical value of the input deviation voltage of speed regulator ASR is still bigger, and its output voltage keeps amplitude limit value
U* im forces electric current
ID rises rapidly,
3) as current of electric Id=Idm, input voltage Ui=maximum output voltage Uim
*Current regulator suppress Id soon growth, what make that current of electric is no more than regulation allows maximum overload electric current I dm,
II stage t
1-t
2, constant current is quickened
In this stage, system is in the constant voltage source
U* im gives the current adjusting system of fixing, holding current basically
ID is constant, thereby the acceleration of system is constant, and rotating speed is linear growth,
III stage t
2After, rotational speed regulation
When rotating speed rose to set-point, the input deviation of speed regulator ASR reduced to zero, but its output is because integral action also maintains amplitude limit value Uim*, so motor makes rotating speed overshoot still quickening.
After the rotating speed overshoot, it is negative that ASR input deviation voltage becomes, and makes it begin to withdraw from saturation condition,
UI* and
IThe very fast decline of d.But, as long as
ID is still greater than load current
IDL, rotating speed just continue to rise,
After this, rotating speed increases the moment of resistance and also increases, and motor speed is descended.When dropping to setting speed when following, ASR input deviation voltage is just becoming, and makes output voltage
UI* rises, and enters rotational speed regulation stage t
3, t
4
Characteristics of the present invention:
1) the phase shift link of existing crane variable voltage control control system adopts analog circuit to realize phase shift; Because be subjected to the influence of extraneous factor such as temperature drift, phase shifting accuracy is subjected to certain influence.Digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention adopts the DSP full-digital control technology, be phase shift, trigger and all adopt digital control approach, phase shifting accuracy is improved greatly, and the control precision of controllable silicon phase shifting angle reaches 0.01 °.And be not subjected to external environment (temperature, humidity) and influence, control performance improves greatly.
2) speed feedback of existing crane variable voltage control control system adopts rotor frequency F/V conversion acquisition speed signal.In order to guarantee the accuracy of rate signal sampling, digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention adopts the digital filtering control algolithm, speed sampling all adopts control algolithm, sampled value is carried out filtering, the acquisition speed signal, also increase the rotary encoder interface simultaneously, the acquisition speed signal makes feedback speed signal more accurate.
3) the single Closed loop Control of existing many employings of crane variable voltage control control system speed; Single angle from expanding governing, the variable voltage control control system of operating speed list closed loop can satisfy the requirement of crane to speed governing basically.But can't satisfy the dynamic property of requirements at the higher level such as Fast starting, shock load, fast braking.Digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention adopts speed current double closed-loop control technology, and dynamic performance is improved greatly; Can satisfy under the situation that maximum current do not transfinite, make electromagnetic torque and the maximum acceleration smooth starting of motor, as shown in Figure 1 with maximum.Simultaneously the potentiality of power device can be given full play to, and power device can not be damaged.
4) existing crane variable voltage control control system master makes the control line access to plant also will pass through PLC or auxiliary relay, and the connecting line of whole system is more numerous and diverse.Digital speed current double closed-loop alternating current motor variable voltage control control system master of the present invention makes that input voltage is AC220V or DC24V, and all direct access to plant need not PLC or auxiliary relay transfer; Make the connecting line of whole system very succinct, reduce installation, maintenance difficulties and cost.
5) hardware and the software of digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention all adopt modularized design; For system upgrade provides great facility, reduce maintenance, the replacing difficulty of system simultaneously.
6) power cell of digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention is made up of six groups of reverse parallel connection thyristors, control signal by driver element changes thyristor phase shift trigger angle, changes terminal voltage of motor and realizes speed governing.
7) main control module of digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention makes input signal collection to the master, after the arrangement, by I/O output, realizes the control to motor by analysis.
8) be the stability that guarantees power supply, the anti-interference that improves power supply, adopt custom-designed Switching Power Supply as the control power supply.
9) for supervisory control system running state constantly, and according to on-the-spot actual the requirement system running state is adjusted, digital speed current double closed-loop alternating current motor variable voltage control of the present invention Control System Design has full Chinese/English display, powerful display module; Can the supervisory control system running parameter by display module, Operation display module can be revised the systemic-function parameter, reaches the purpose of Adjustment System running status.
The invention has the beneficial effects as follows: the present invention is that it has improved the crane control technology greatly according to the professional variable voltage control control system of crane operation characteristic exploitation, and control performance is more superior; Simplify the peripheral distribution of crane electrical control cubicles simultaneously, be convenient to install, safeguard, reduced installation, maintenance difficulties and system cost.
Description of drawings
Fig. 1 is a structured flowchart of the present invention.
Fig. 2 is starting process figure of the present invention.
Fig. 3 is a display module schematic diagram of the present invention.
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.
As shown in Figure 1, digital speed current double closed-loop alternating current motor variable voltage control control system of the present invention, it is characterized in that comprising the velocity setting module, the speed pi regulator that is connected of velocity setting module therewith, the current PI adjuster that is connected of speed pi regulator therewith, the main control module that is connected of current PI adjuster therewith, the display module that is connected with main control module, driver module, the current sampling module of the motor that is connected of the comparator of current PI adjuster therewith, the speed sampling feedback module of the motor that is connected of the comparator of speed pi regulator therewith, respectively with the velocity setting module, the speed pi regulator, the current PI adjuster, main control module, display module, the Switching Power Supply that driver module is connected, the current sampling module of described current PI adjuster-main control module-driver module-motor constitutes the current closed-loop control system, the speed sampling feedback module of described speed pi regulator-main control module-driver module-motor constitutes closed loop speed control system, and described current closed-loop control system and closed loop speed control system constitute speed current double closed-loop alternating current motor variable voltage control control system.
Described driver module is made up of six groups of reverse parallel connection thyristors.
Described main control module comprises that main signal input module, analysis and processing module, the I/O output module, described master of making makes that input voltage is AC220V or DC24V.
Described display module is the display module of full Chinese/English display.
Described master makes that input module hoists with the master of crane respectively, pair hoists, the lead-out wire on the master controller of cart and dolly drive system is connected.
Described speed sampling feedback module adopts the digital filtering control algolithm, and promptly speed sampling all adopts control algolithm, and sampled value is carried out filtering, and the acquisition speed signal also is provided with the rotary encoder interface simultaneously and is connected with the rotary encoder of motor.
As shown in Figure 2, the starting process of described speed current double closed-loop comprises the steps:
I stage 0-t1 powers up startup
1) the given voltage of impact
U=Behind the n*,
ID rises, when
ID is less than load current
IDuring dL, motor can't rotate,
2) when
ID 〉=
IBehind the dL, motor begins starting, because dynamo-electric effect of inertia, rotating speed can very fast growth, thereby the numerical value of the input deviation voltage of speed regulator ASR is still bigger, and its output voltage keeps amplitude limit value
U* im forces electric current
ID rises rapidly,
3) as current of electric Id=Idm, input voltage Ui=maximum output voltage Uim
*Current regulator suppress Id soon growth, what make that current of electric is no more than regulation allows maximum overload electric current I dm,
II stage t
1-t
2, constant current is quickened
In this stage, system is in the constant voltage source
U* im gives the current adjusting system of fixing, holding current basically
ID is constant, thereby the acceleration of system is constant, and rotating speed is linear growth,
III stage t
2After, rotational speed regulation
When rotating speed rose to set-point, the input deviation of speed regulator ASR reduced to zero, but its output is because integral action also maintains amplitude limit value Uim*, so motor makes rotating speed overshoot still quickening.
After the rotating speed overshoot, it is negative that ASR input deviation voltage becomes, and makes it begin to withdraw from saturation condition,
UI* and
IThe very fast decline of d.But, as long as
ID is still greater than load current
IDL, rotating speed just continue to rise,
After this, rotating speed increases the moment of resistance and also increases, and motor speed is descended.When dropping to setting speed when following, ASR input deviation voltage is just becoming, and makes output voltage
UI* rises, and enters rotational speed regulation stage t
3, t
4
Crane generally has 4-5 cover drive systems; Be respectively main and hoist, pair hoists, cart and dolly; Therefore 4-5 cover master controllers are arranged, the general main electrical control cabinet that hoists, pair hoist electrical control cabinet, cart control cubicle and the dolly control cubicle installed on big vehicle carriage in driver's cabin.7-8 lead-out wires are arranged on each master controller, respectively with corresponding electrical control cabinet in the master of of the present invention digital speed current double closed-loop alternating current motor variable voltage control control system make input module be connected, through collection and the analysis and arrangement of main control module to input signal, send output signal, realize control each system of crane.
As shown in Figure 3, described display module is the display module of full Chinese/English display, comprise Menu key, the key that moves to left, spare key, on move key, motor and just changeing indicator light, motor counter-rotating indicator light, the written instructions lamp of reporting to the police, brake operation written instructions lamp, LCDs, reset key, display panel battery, the key that moves to right, acknowledgement key and moving down key.
Claims (7)
1. digital speed current double closed-loop alternating current motor variable voltage control control system, it is characterized in that comprising the velocity setting module, the speed pi regulator that is connected of velocity setting module therewith, the current PI adjuster that is connected of speed pi regulator therewith, the main control module that is connected of current PI adjuster therewith, the display module that is connected with main control module, driver module, the current sampling module of the motor that is connected of the comparator of current PI adjuster therewith, the speed sampling feedback module of the motor that is connected of the comparator of speed pi regulator therewith, respectively with the velocity setting module, the speed pi regulator, the current PI adjuster, main control module, display module, the Switching Power Supply that driver module is connected, the current sampling module of described current PI adjuster-main control module-driver module-motor constitutes the current closed-loop control system, the speed sampling feedback module of described speed pi regulator-main control module-driver module-motor constitutes closed loop speed control system, and described current closed-loop control system and closed loop speed control system constitute speed current double closed-loop alternating current motor variable voltage control control system.
2. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 1 is characterized in that described driver module is made up of six groups of reverse parallel connection thyristors.
3. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 1, it is characterized in that described main control module comprises that main signal input module, analysis and processing module, the I/O output module, described master of making makes that input voltage is AC220V or DC24V.
4. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 1, it is characterized in that described display module is the display module of full Chinese/English display, comprise Menu key, the key that moves to left, spare key, on move key, motor and just changeing indicator light, motor counter-rotating indicator light, the written instructions lamp of reporting to the police, brake operation written instructions lamp, LCDs, reset key, display panel battery, the key that moves to right, acknowledgement key and moving down key.
5. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 3 is characterized in that described master makes that signal input module hoists with the master of crane respectively, pair hoists, the lead-out wire on the master controller of cart and dolly drive system is connected.
6. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 1, it is characterized in that described speed sampling feedback module adopts the digital filtering control algolithm, be that speed sampling all adopts control algolithm, sampled value is carried out filtering, the acquisition speed signal also is provided with the rotary encoder interface simultaneously and is connected with the rotary encoder of motor.
7. digital speed current double closed-loop alternating current motor variable voltage control control system according to claim 1 is characterized in that the starting process of described speed current double closed-loop comprises the steps:
I stage 0-t1 powers up startup
1) the given voltage of impact
U=Behind the n*,
ID rises, when
ID is less than load current
IDuring dL, motor can't rotate,
2) when
ID 〉=
IBehind the dL, motor begins starting, because dynamo-electric effect of inertia, rotating speed can very fast growth, thereby the numerical value of the input deviation voltage of speed regulator ASR is still bigger, and its output voltage keeps amplitude limit value
U* im forces electric current
ID rises rapidly,
3) as current of electric Id=Idm, input voltage Ui=maximum output voltage Uim
*Current regulator suppress Id soon growth, what make that current of electric is no more than regulation allows maximum overload electric current I dm,
II stage t
1-t
2, constant current is quickened
In this stage, system is in the constant voltage source
U* im gives the current adjusting system of fixing, holding current basically
ID is constant, thereby the acceleration of system is constant, and rotating speed is linear growth,
III stage t
2After, rotational speed regulation
When rotating speed rose to set-point, the input deviation of speed regulator ASR reduced to zero, but its output also maintains amplitude limit value Uim* owing to integral action, so motor makes rotating speed overshoot still quickening,
After the rotating speed overshoot, it is negative that ASR input deviation voltage becomes, and makes it begin to withdraw from saturation condition,
UI* and
IThe very fast decline of d,
But, as long as
ID is still greater than load current
IDL, rotating speed just continue to rise,
After this, rotating speed increases the moment of resistance and also increases, and motor speed is descended,
When dropping to setting speed when following, ASR input deviation voltage is just becoming, and makes output voltage
UI* rises, and enters rotational speed regulation stage t
3, t
4
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110032323 CN102130649A (en) | 2011-01-30 | 2011-01-30 | Voltage regulation and speed regulation control system of full-digital speed and current double closed-loop alternating current motor |
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|---|---|---|---|
| CN 201110032323 CN102130649A (en) | 2011-01-30 | 2011-01-30 | Voltage regulation and speed regulation control system of full-digital speed and current double closed-loop alternating current motor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208952A (en) * | 2013-04-01 | 2013-07-17 | 徐国华 | Zero-current reversing device for alternating current winding motor |
| CN109256026A (en) * | 2018-11-21 | 2019-01-22 | 北京理工大学 | A kind of experiment device for teaching of Double Closed-loop DC Speed System |
| CN111395241A (en) * | 2020-04-13 | 2020-07-10 | 徐州徐工环境技术有限公司 | Accurate and efficient motor rotating speed control method and road sweeper |
| CN112366995A (en) * | 2020-12-04 | 2021-02-12 | 江苏科技大学 | Control method for overcoming electric vehicle starting gear collision |
| CN112398405A (en) * | 2020-10-21 | 2021-02-23 | 江苏理工学院 | AC motor voltage-regulating and speed-regulating control system and method |
-
2011
- 2011-01-30 CN CN 201110032323 patent/CN102130649A/en active Pending
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208952A (en) * | 2013-04-01 | 2013-07-17 | 徐国华 | Zero-current reversing device for alternating current winding motor |
| CN109256026A (en) * | 2018-11-21 | 2019-01-22 | 北京理工大学 | A kind of experiment device for teaching of Double Closed-loop DC Speed System |
| CN111395241A (en) * | 2020-04-13 | 2020-07-10 | 徐州徐工环境技术有限公司 | Accurate and efficient motor rotating speed control method and road sweeper |
| CN112398405A (en) * | 2020-10-21 | 2021-02-23 | 江苏理工学院 | AC motor voltage-regulating and speed-regulating control system and method |
| CN112366995A (en) * | 2020-12-04 | 2021-02-12 | 江苏科技大学 | Control method for overcoming electric vehicle starting gear collision |
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Application publication date: 20110720 |