CN102497159A - Alternating current frequency conversion control method suitable for vibrating stress relief - Google Patents
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Abstract
The invention discloses an alternating current frequency conversion control method suitable for vibrating stress relief (VSR). The method is characterized in that: a lower computer arranges a function baud table according to a sine function that is expressed by the following formula: y=A(sinX+ksin3X), so that an alternating signal of a drive power module of the lower computer contains a triple-frequency harmonic; when an upper computer gives a rotate speed instruction to the lower computer, the lower computer invokes a point in an array according to an order to output a sine wave; and an alternating current signal of a control power module is a drive square wave of the power module, wherein the drive square wave is output after the lower computer automatically searches a function baud table according to a register shift method. According to the invention, an operation method of a lower computer is changed and thus a stead speed of a rotating speed of a single-chip computer is improved; therefore, lost of resources for operation of a sine function are saved for the single-chip computer; a CPU processing speed is enhanced; a steady-speed velocity is substantially improved; an influence on bus output by a self-inductance higher harmonic is reduced; delay and dead zone loss of a power module switch are compensated; driving capability of the power module is effectively improved; and a requirement of a VSR technology is met.
Description
Technical field
The present invention relates to the method for controlling frequency conversion that a kind of alternating current machine is used in oscillating aging.
Background technology
Oscillating aging (Vibrating Stress Relief; Be called for short VSR); Be intended to oscillating aging equipment, make the workpiece that is processed produce resonance, and certain vibrational energy is delivered to all sites of workpiece through this resonance mode through specialty; Making the plastic deformation of interior generation microcosmic--the lattice of being distorted is replied poised state, dislocation slippage and pinning again gradually; Thereby the residual stress that makes interior is able to eliminate and homogenizing, finally prevents workpiece distortion and cracking in processing and use, guarantees the stability of workpiece size precision.
Traditional oscillating aging is to drive the eccentric block that is fixed on the vibration generator on the workpiece through the rotation of using brush direct current motor to produce periodically exciting force, makes workpiece resonance.But this direct current machine is owing to adopt brush-commutated; Noise is arranged when rotating, owing to motor when oscillating aging need bear judder, can cause between brush and the armature head and produce the gap simultaneously; The brush place just is easy to produce spark, thereby burns brush and armature head.Because many good characteristics of these shortcomings and common AC asynchronous motor; People are used for oscillating aging in active research with common AC asynchronous motor always; Like Chinese patent document CN1105706 disclosed " method and apparatus of alternating current motor driving oscillating aging treating parts " and CN200945478Y disclosed " a kind of novel vibrating device "; All be the power supply of frequency changer circuit to be controlled through central processing unit (single-chip microcomputer or microcomputer); Instruction to oscillating aging is handled, and with the direct control of conversion circuit of the signal of telecommunication that produces, frequency changer circuit carries out exporting to alternating current motor after the frequency conversion to power-frequency voltage.Common asynchronous AC motor is used for oscillating aging; It can obtain the exciting force bigger than direct current machine; Can bear the vibration stronger than direct current machine, wideer frequency band simultaneously can permanent torque work; Make it under low frequency, can obtain very big exciting force, efficiently solve the difficult problem of high rigidity workpiece and ultra-large workpiece oscillating aging.Brushless owing to alternating current machine simultaneously, noiselessness when work, no-spark makes its longer service life, also has non-maintaining advantage.There are problems such as steady speed precision is low, mistake peak energy power deficiency, cost height but drive alternating current machine, so be not applied all the time with common frequency converter.
At present; The rotating speed control of alternating current machine is to give alternating current machine through frequency of Single-chip Controlling power model (IGBT) output and all controlled standard AC signal of voltage; Alternating current machine is provided with the speed probe that is connected with single-chip microcomputer, forms a close loop control circuit.Wherein the signal of Single-chip Controlling power model IGBT is that (y is a drive signal voltage by CPU (central processing unit) the calculating SIN function y=Asinx through single-chip microcomputer; A is a voltage magnitude; X is the phase angle) send; Single-chip microcomputer drives alternating current machine by the AC signal of setting output respective frequencies and voltage and rotates during motor rotation, and speed probe feeds back to single-chip microcomputer with tach signal on the alternating current machine, single-chip microcomputer through to the instant rotating speed of alternating current machine with control rotating speed constantly relatively come speed stabilizing.
As everyone knows; The speed stabilizing of alternating current machine is a complex process; The time of speed stabilizing is depended on multiple factor (arithmetic speed of function y=Asinx and rotating ratio are than speed or the like for the response speed of IGBT, CPU processing speed); Owing to these reasons, can't satisfy of the requirement of oscillating aging equipment to speed governing and speed stabilizing with the traditional frequency conversion control method.Owing to receive the influence of IGBT switching speed and Dead Time, actual output is not sine wave simultaneously.When the stator winding of frequency conversion drive alternating current machine, also can produce high order harmonic component, make the driving force of frequency converter not have the so high of Theoretical Calculation, can't satisfy the output requirement of motor power when formant.
Chinese patent document CN101232270 discloses a kind of " method for controlling frequency conversion of AC converter "; It is the first-harmonic flat regulation and control system that in two closed-loop control processes of magnetic flux tracking pulse-width modulation realization magnetic flux and torque, imports; It is the automatic modulation technique of carrier wave; Control procedure is following: detect the voltage and current physical quantity between inverter and the motor; After converter calculates, send into the first-harmonic controller, control magnetic linkage and electromagnetic torque comparator behind the fundamental frequency fabric width that calculates pulse width modulation are realized the automatic modulation of carrier frequency and pulsewidth.Should " method for controlling frequency conversion of AC converter " be that the dynamic and steady-state behaviour of alternating current machine torque is all improved, be based on the method for controlling frequency conversion of flux current vector and direct torque control.Speed stabilizing in the time of can not being used for oscillating aging differs greatly with v/f (voltage/frequency) control model.
Chinese patent document CN101777869A (application number 201010011477.1) discloses a kind of " a kind of alternating current variable frequency control method that is applicable to oscillating aging "; This method be " AC signal through frequency of slave computer power controlling module output and voltage are all controlled is given alternating current machine; alternating current machine is provided with the speed probe that is connected with slave computer; the speed probe on the alternating current machine feeds back to host computer with tach signal, host computer through to the instant rotating speed of alternating current machine and control rotating speed constantly relatively come speed stabilizing; Slave computer is according to SIN function y=A (sinx+ksinNx, N=1,2; 3;) function baud table is set, wherein y is that drive signal voltage, A are that voltage magnitude, X are that phase angle, K are the output voltage increment coefficient, makes the AC signal of slave computer driving power module comprise a high order harmonic component like this "; when this drive signal that comprises high order harmonic component offsets through the high order harmonic component that IGBT outputs to motor windings and the generation of winding self-induction; suppressed of the influence of self-induction high order harmonic component effectively,, equaled to make the switching value of IGBT to amplify in advance; to remedy the delay and the dead band loss of IGBT switch; effectively improved the driving force of power model IGBT,, directly realized looking into automatically the driving square wave of function baud table method power output module by The software adopted register shift method in order to practice thrift cost and raising CPU computational speed simultaneously because this high order harmonic component distorts SIN function to bus output.
But; The drive signal that comprises high order harmonic component is offseted through the high order harmonic component that IGBT outputs to motor windings and the generation of winding self-induction; Suppress of the influence of self-induction high order harmonic component effectively, must know the amplitude and the phase place of the high order harmonic component of motor in advance, yet motor is because the difference of design and manufacturing bus output; And the difference of the mains voltage waveform of input, the amplitude and the phase place of the high order harmonic component that motor windings and winding self-induction produce are all inequality.For obtaining the high order harmonic component that motor windings and winding self-induction produce, generally to gather the waveform of the voltage and current of motor output, carry out the harmonic analysis computing, just can obtain the amplitude and the phase place of the high order harmonic component of motor.The tach signal that a speed sensor is gathered in this method can't obtain the amplitude and the phase place of the high order harmonic component of motor, so can't confirm output voltage increment coefficient K.That is to say that this method can't realize.
Summary of the invention
The present invention is directed to the problem that the speed stabilizing technology of existing common AC asynchronous motor when being used for oscillating aging exists, provide a kind of easy reliable, speed stabilizing speed is high, can satisfy the alternating current variable frequency control method that is applicable to oscillating aging that motor power output requires when formant.This method is based on improving one's methods of v/f VFC pattern (guaranteeing that output voltage is directly proportional with frequency), can make being applicable in the oscillating aging equipment of common AC asynchronous motor ability economic security.
The alternating current variable frequency control method that is applicable to oscillating aging of the present invention is:
Give alternating current machine through frequency of slave computer power controlling module output and all controlled AC signal of voltage; Alternating current machine is provided with the speed probe that is connected with slave computer; Speed probe on the alternating current machine feeds back to host computer with tach signal, and host computer is through constantly relatively coming speed stabilizing to instant rotating speed of alternating current machine and control rotating speed; Slave computer is provided with function baud table according to SIN function y=A (sinx+ksin3x); Wherein y is that drive signal voltage, A are that voltage magnitude, X are that phase angle, K are the output voltage increment coefficient; The span of K is 0.15-0.25; Concrete K value according to concrete motor whether rise to by the experiment test fundamental voltage when the work operation v/f control under required 220 volts of voltages decide, make the AC signal of slave computer driving power module comprise a triple-frequency harmonics like this; Adopt the register shift method to realize looking into automatically function baud table; When host computer is given rotary speed instruction of slave computer; Slave computer calls the sine wave of some output in the array in order, and the AC signal of power controlling module output is a driving square wave of being looked into the power model of function baud table output by slave computer through the register shift method automatically.
The setting up procedure of said function baud table is following:
Define 1024 numerical value; Form a complete sinusoidal period; The point that when frequency is exported, calls in order in the array just can be exported a sine wave; The sine wave freuqency that the speed of calling is exported more soon is high more, obtains a function baud table that has at 1024 through calculating SIN function y=A (sinx+ksin3x).
Said employing register shift method realizes that the detailed process of looking into function baud table automatically is:
With the pointer definition that points to the baud table is Sine_PC, and this register adds the position that n will obtain next point at every turn, gives slave computer register F_wdc by the rotary speed instruction of host computer; F_wdc is 15 bit registers, and corresponding 0 to 12000 changes, and slave computer moves to left the data in the F_wdc register and dumps in the Delta_Phase register after 11; Data in the Delta_Phase register add up when interrupting once in the Phase variable, and Phase is 32 bit registers, just can meet the Theoretical Calculation result because F_wdc will move to right 11; And moved to left 11, and just can obtain the result so will move to right 22 to Phase, obtain Sine_PC; Just in time remaining 10; 10 maximum is 1024, can not surpass whole sinusoidal wave table, does pointer with Sine_PC and just can look into function baud table automatically.
Above-mentioned control method; Owing to comprised a triple-frequency harmonics in the drive signal; When this drive signal outputs to AC Electrical Machine Winding through power model; Because the triple-frequency harmonics phase place is identical in the phase voltage, amplitude is identical, cause when three-phase line voltage triple-frequency harmonics cancel each other (this triple-frequency harmonics between the line voltage offsets).Because this triple-frequency harmonics distorts SIN function; Equal that the switching value of power model is amplified in advance (switching value increase); The delay and the dead band loss of power model switch have been remedied; Be equivalent to make the high order harmonic component of generation to reduce, effectively improved the driving force of power model IGBT, reduced harmonic wave and produced the influence that reaches final output.
The present invention is through changing the operation method of single-chip microcomputer, improve single-chip microcomputer stabilization of speed speed, the steady speed precision of alternating current machine having been reached ± 1rpm; When VFC, adopt the register shift method to realize looking into automatically the driving square wave of function baud table power output module; Make single-chip microcomputer practice thrift the resource of a large amount of computing SIN functions; Improved the CPU processing speed; Speed stabilizing speed significantly improves, and has reduced the influence of self-induction high order harmonic component to bus output effectively.
Description of drawings
Fig. 1 is AC frequency conversion control principle figure of the present invention.
Fig. 2 is the register shift flow chart among the present invention.
Embodiment
The alternating current variable frequency control method that is applicable to oscillating aging of the present invention mainly is through changing the operation method of single-chip microcomputer, improve single-chip microcomputer stabilization of speed speed, the steady speed precision of motor being reached ± 1rpm; In order to simplify circuit and to reduce the cost; The present invention adopts software to control; And the characteristics of combining vibration timeliness equipment, when VFC, adopt the realization of register shift method to look into the driving square wave of the method power output module I GBT of function baud table automatically, this just makes single-chip microcomputer practice thrift the resource of a large amount of computing SIN functions; Improved the CPU processing speed, speed stabilizing speed significantly improves.
Fig. 1 has provided AC frequency conversion control principle of the present invention; Be to give alternating current machine through frequency of slave computer (single-chip microcomputer) power controlling module (IGBT) output and all controlled standard AC signal of voltage; Alternating current machine is provided with the speed probe that is connected with slave computer (single-chip microcomputer), forms a close loop control circuit.Speed probe on the alternating current machine feeds back to host computer with tach signal, and host computer is through constantly relatively coming speed stabilizing to instant rotating speed of alternating current machine and control rotating speed.Wherein according to SIN function y=A (sinx+ksin3x) (wherein y is that drive signal voltage, A are that voltage magnitude, X are that phase angle, K are the output voltage increment coefficient) function baud table is set in the program of slave computer; In order to get automatically a little, adopt the register shift method to realize looking into automatically function baud table according to the rotating speed height.When host computer is given rotary speed instruction of slave computer; Slave computer is as long as the point that calls in order in the array just can be exported a sine wave; The AC signal that this sine wave is converted into respective frequencies and voltage drives square wave power controlling module I GBT, and alternating current machine just can be by setting rotational speed.
The influence of the high order harmonic component that produces for the winding that reduces alternating current machine must add the switching value of high power module unit pulse, improves the utilance of power model IGBT output bus.Under the immovable prerequisite of hardware, the present invention proposes when VFC, and slave computer (single-chip microcomputer) is provided with function baud table according to SIN function y=A (sinx+ksin3x), makes the signal of slave computer driving power module comprise a triple-frequency harmonics; Adopt the register shift method to realize looking into automatically the driving square wave of function baud table method power output module again.Concrete K value according to dissimilar motors whether rise to by the experiment test fundamental voltage when the work operation v/f control under required voltage decide.Waveform when driving alternating current machine is made up of the first-harmonic harmonic, adopts three motors in the following table to make an experiment (220 volts of employed motor peak demand voltages), draws same result: when K=0; Be the triple-frequency harmonics that do not superpose; In this case since harmonic wave have the highest output of power model the time voltage can only reach 190 volts through surveying, when the K value was between 0.15-0.25, voltage fluctuateed near 220 volts during the highest output of power model; The K value was got 0.2 o'clock; Voltage is 220 volts during the highest output of measured power module, satisfies the normal operation of motor, is best value.
| Sequence number | Power KW | Voltage V | Reference frequency Hz | Electric current A | Torque N.m | The class of insulation | The type of cooling | Bearing | Motor length overall mm |
| 1 | 1.5 | 220 | 200 | 6.8 | 1.3 | F | Cold from pectinid | SKF C3 | 260 |
| 2 | 2.2 | 220 | 150 | 8.9 | 2.6 | F | ? | ? | 290 |
| 3 | 1.5 | 220 | 100 | 6.2 | 2.6 | F | ? | ? | 290 |
When this drive signal that comprises triple-frequency harmonics outputs to motor windings through IGBT; The triple-frequency harmonics that produces between line voltage offsets; Because this triple-frequency harmonics distorts SIN function; Equal to make the switching value of IGBT to amplify in advance, remedied the delay and the dead band loss of IGBT switch, effectively improved the driving force of power model IGBT.Reduced of the influence of self-induction high order harmonic component effectively to bus output.
The present invention directly adopts register shift method realization Automatic Function to look into baud table method output control square wave by computer software, and concrete control procedure is following:
Define 1024 numerical value according to SIN function y=A (sinx+ksin3x) in slave computer (single-chip microcomputer) program, formed a complete sinusoidal period.When host computer was given rotary speed instruction of slave computer, slave computer was as long as the point that calls in order in the array just can be exported a sine wave.Can find out that the sine wave freuqency that the speed called exports more soon is high more.But if the frequency of output 200HZ and Geng Gao, the frequency of calling each point has reached 200 * 1024=204.8KHZ, and the switching frequency of IGBT also will reach 204.8KHZ just can make each point export.In fact IGBT can't reach, and the high more switching loss of frequency also increases greatly.And single-chip microcomputer also will carry out the duty ratio of a large amount of computings to confirm to export in each frequency period, and arithmetic speed does not catch up with yet.To have many points useless along with the rising of frequency, in order to practice thrift cost and to improve the CPU computational speed, directly realized looking into automatically the driving square wave of function baud table method power output module by The software adopted register shift method.Through adopting the conversion of register shift method, output frequency just can significantly lower, and is fixed to 10 KHZ-20KHZ according to taking all factors into consideration output frequency of IGBT and single-chip microcomputer etc.Like this each switch periods has only 50 uS-100uS.The instruction process speed of single-chip microcomputer will reach the nS level at least.Used single-chip microcomputer speed is instructions of about tens nS now.Under each switch periods, can handle more than 1000 instruction like this.Speed is enough.
Along with the rising of frequency, many points of sine curve baud table are useless, directly jump point and export just passable.Frequency output is continuous, and best bet is to get a number along with frequency change can change automatically.
The front said that sinusoidal wave one-period got a little 1024 points at most, obtained a function baud table that has at 1024 through calculating SIN function y=A (sinx+ksin3x).Just in time represent with one 10 bit, can overflow, get into sinusoidal wave the getting a little of next cycle again automatically when the continuation added-time.
Suppose to be expressed as t fixing break period, the number of sampling under the different rotating speeds is expressed as N, and corresponding sinusoidal period is expressed as T, can obtain: N=T/t, counting that each sampling will be skipped is expressed as n, can get: n=1024/N.
In order to realize looking into the baud table automatically, the present invention uses the register shift method from the baud table, to get a little automatically according to the rotary speed instruction of host computer, can export the variation of drive waveforms fast, improves the rotating speed control rate.
Rotary speed instruction by host computer is given slave computer register F_wdc, and F_wdc is 15 bit register, and corresponding 0 to 12000 changes.Tachometer is shown S, and the binary number in the F_wdc is used R
BINExpression.Can obtain: T=60/S.
With 12000/32768 (2
15)=0.3662109375 is made as factor beta, can get: R
BIN=S/ β.The binary representation of Here it is rotating speed.Be out of shape and be exactly: S=R
BIN* β.
With formula N=T/t, T=60/S and R
BIN=S/ β conversion substitution n=1024/N obtains: n=1024*t*
*R
BIN* β/60.
The register shift process is as shown in Figure 2.The pointer definition that points to the baud table in the program is Sine_PC.This register adds the position that n will obtain next point at every turn.Calculate also passablely if in program, directly apply mechanically this formula, but can expend time of single-chip microcomputer.In order to realize this process faster, can adopt the way of displacement.Register moves to right one and equals divided by 2.For example: 2048 is 11 powers of 2.Above result is equivalent to F_wdc is moved to right 11.Host computer sends the F_wdc register that a rotary speed instruction is given slave computer, and slave computer moves to left the data in the F_wdc register and dumps in the Delta_Phase register after 11, and the data in the Delta_Phase register add up once in the Phase variable when interrupting; Phase is 32 bit registers; Just can meet the Theoretical Calculation result because F_wdc will move to right 11, and move to left 11, just can obtain the result so will move to right 22 to Phase; Obtain Sine_PC; Just in time remaining 10,10 maximum is 1024, can not surpass whole sinusoidal wave table.Doing pointer with Sine_PC just can table look-up.
Claims (3)
1. alternating current variable frequency control method that is applicable to oscillating aging is characterized in that:
Give alternating current machine through frequency of slave computer power controlling module output and all controlled AC signal of voltage; Alternating current machine is provided with the speed probe that is connected with slave computer; Speed probe on the alternating current machine feeds back to host computer with tach signal, and host computer is through constantly relatively coming speed stabilizing to instant rotating speed of alternating current machine and control rotating speed; Slave computer is provided with function baud table according to SIN function y=A (sinx+ksin3x); Wherein y is that drive signal voltage, A are that voltage magnitude, X are that phase angle, K are the output voltage increment coefficient; The span of K is 0.15-0.25; Concrete K value according to concrete motor whether rise to by the experiment test fundamental voltage when the work operation v/f control under required 220 volts of voltages decide, make the AC signal of slave computer driving power module comprise a triple-frequency harmonics like this; Adopt the register shift method to realize looking into automatically function baud table; When host computer is given rotary speed instruction of slave computer; Slave computer calls the sine wave of some output in the array in order, and the AC signal of power controlling module output is a driving square wave of being looked into the power model of function baud table output by slave computer through the register shift method automatically.
2. the alternating current variable frequency control method that is applicable to oscillating aging according to claim 1 is characterized in that: the setting up procedure of said function baud table is following:
Define 1024 numerical value; Form a complete sinusoidal period; The point that when frequency is exported, calls in order in the array just can be exported a sine wave; The sine wave freuqency that the speed of calling is exported more soon is high more, obtains a function baud table that has at 1024 through calculating SIN function y=A (sinx+ksin3x).
3. the alternating current variable frequency control method that is applicable to oscillating aging according to claim 1 is characterized in that: said employing register shift method realizes that the detailed process of looking into function baud table automatically is:
With the pointer definition that points to the baud table is Sine_PC, and this register adds the position that n will obtain next point at every turn, gives register F_wdc by the rotary speed instruction of host computer; F_wdc is 15 bit registers, and corresponding 0 to 12000 changes, and slave computer moves to left the data in the F_wdc register and dumps in the Delta_Phase register after 11; Data in the Delta_Phase register add up when interrupting once in the Phase variable, and Phase is 32 bit registers, just can meet the Theoretical Calculation result because F_wdc will move to right 11; And moved to left 11, and just can obtain the result so will move to right 22 to Phase, obtain Sine_PC; Just in time remaining 10; 10 maximum is 1024, can not surpass whole sinusoidal wave table, does pointer with Sine_PC and just can look into function baud table automatically.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103773945A (en) * | 2014-01-25 | 2014-05-07 | 浙江大学 | Real-time vibration-aging vibration level testing system and automatic adjustment method |
| CN109182729A (en) * | 2018-09-10 | 2019-01-11 | 上海海事大学 | A kind of oscillating aging system based on frequency control and numerical simulation technology |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1105706A (en) * | 1994-01-18 | 1995-07-26 | 赵显华 | Method and equipment for a.c. motor driving oscillating aging treating parts |
| CN101232270A (en) * | 2007-12-03 | 2008-07-30 | 孙胜军 | Frequency conversion control method of alternating current frequency converter |
| CN101777869A (en) * | 2010-01-19 | 2010-07-14 | 郝俊山 | Alternating current variable frequency control method suitable for vibration ageing |
-
2011
- 2011-12-23 CN CN2011104373286A patent/CN102497159A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1105706A (en) * | 1994-01-18 | 1995-07-26 | 赵显华 | Method and equipment for a.c. motor driving oscillating aging treating parts |
| CN101232270A (en) * | 2007-12-03 | 2008-07-30 | 孙胜军 | Frequency conversion control method of alternating current frequency converter |
| CN101777869A (en) * | 2010-01-19 | 2010-07-14 | 郝俊山 | Alternating current variable frequency control method suitable for vibration ageing |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103773945A (en) * | 2014-01-25 | 2014-05-07 | 浙江大学 | Real-time vibration-aging vibration level testing system and automatic adjustment method |
| CN103773945B (en) * | 2014-01-25 | 2016-05-04 | 浙江大学 | Vibratory stress relief vibration level real-time testing system and automatic adjusting method |
| CN109182729A (en) * | 2018-09-10 | 2019-01-11 | 上海海事大学 | A kind of oscillating aging system based on frequency control and numerical simulation technology |
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Application publication date: 20120613 |