CN102792028A - Controller-integrated motor pump - Google Patents
Controller-integrated motor pump Download PDFInfo
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- CN102792028A CN102792028A CN2011800133296A CN201180013329A CN102792028A CN 102792028 A CN102792028 A CN 102792028A CN 2011800133296 A CN2011800133296 A CN 2011800133296A CN 201180013329 A CN201180013329 A CN 201180013329A CN 102792028 A CN102792028 A CN 102792028A
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- pump
- motor
- pressure
- command value
- controller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Non-Positive-Displacement Pumps (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A controller-integrated motor pump is disclosed. The motor pump includes: a pump (1); a motor (2) configured to drive the pump (1); a control unit (3) configured to control the motor (2); and a pressure measuring device (16) configured to measure pressure of fluid at a discharge side of the pump (1). The control unit (3) is mounted on a motor casing (12). The control unit (3) includes an inverter (25) configured to produce alternating-current power having a frequency within a band that includes frequencies more than or equal to a commercial frequency, a pump controller (30) configured to produce a torque command value for controlling operation of the pump (1), and a vector controller (40) configured to determine a voltage command value for the inverter (25) based on the torque command value. The motor (2) has a rotor (2a) having a plurality of permanent magnets (20).
Description
Technical field
The present invention relates to be integrated with the motor-mount pump of controller, relate more specifically to wherein be combined with integratedly the motor-mount pump that is integrated with controller that is used for based on the control unit of vector control control motor.
Background technique
Motor-mount pump is the pump that has as the motor of the driving source of pump.Motor-mount pump is used for various application.For example, motor-mount pump is with acting on the water feeding unit that water is supplied to building.The operation of motor is controlled through the control unit with inverter.Inverter is configured to increase or reduce through the frequency that change is supplied to the electric current of motor the rotating speed of motor.Vector control is known as a kind of motor control method, and it can provide the moment of torsion that has colour response control.This vector control is so a kind of technology, and wherein motor current is decomposed into moment of torsion current component and exciting current component, and these current components are controlled independently.
Summary of the invention
Technical problem
But because induction motor is as pump drive motor, so the Distributed Winding that is provided with in the induction motor can limit the minimizing of amount of call wire of miniaturization and the use of motor.Therefore, be difficult to make compactly whole motor-mount pump and the realization integrative-structure.In addition, induction motor need be supplied excitation energy, and this has produced the problem of efficiency improvement aspect.
In view of above defective is made the present invention.Therefore, the purpose of this invention is to provide a kind of motor-mount pump that is integrated with controller efficiently.
The scheme of dealing with problems
One side of the present invention is used to realize above-mentioned a kind of purpose that is integrated with the motor-mount pump of controller that provides.Motor-mount pump comprises: pump; Motor, it can drive said pump; Control unit, it can control said motor; With the waste side manometer; It can measure the pressure of fluid of the waste side of said pump; Wherein control unit is installed on the motor casing of motor; Pump impeller that comprises the rotatingshaft that is fixed to said motor and the pump case of holding said impeller wherein, wherein control unit comprises: inverter, it can produce frequency and be in the AC power that comprises more than or equal in the band of the frequency of commercial frequency; Pump controller, it can produce the torque command value of the operation that is used to control said pump; And vector controller, it can confirm to be used for the voltage instruction value of said inverter based on said torque command value, and wherein motor has rotor, and rotor has a plurality of permanent magnets.
Of the present invention preferred aspect, pump controller can be carried out assessment terminal pressure constant control operation, wherein, calculates goal pressure and makes the discharge speed regardless of said pump, all keeps substantially constant by the terminal pressure in the outlet port of the fluid of said pump pressurization.
Of the present invention preferred aspect, control unit also comprises can measure the current probe that will be supplied to the three phase circuit of said motor from said inverter.Vector controller comprises: three-two phasing commutators, and it can convert three phase circuit to two exciting current and the moment of torsion electric currents that rotate on the reference system; The instruction map device, it can convert the torque command value to exciting current command value and torque current command value; Current controller; It can calculate and be used for the deviation between said exciting current and the said exciting current command value being reduced to 0 d shaft voltage command value, and can calculate and be used for the deviation between said moment of torsion electric current and the torque current command value is reduced to 0 q shaft voltage command value; Two-three-phase inverter, it can convert said d shaft voltage command value and said q shaft voltage command value on the three phase static reference system three-phase voltage command value; And phase calculator, it can calculate the angular frequency and the phase place of said rotor.
Of the present invention preferred aspect, said motor is the interior permanent magnet motor, wherein said a plurality of permanent magnets are embedded in the said rotor.
Of the present invention preferred aspect, control unit also comprises: electric power is calculated device, it can calculate the electric power and the electric power of calculating the said inverter of input of the said motor of input; The electric power integrator, it can carry out integration to confirm the electric energy of unit time to the value that said electric power is calculated the electric power that device calculates; And the electric energy display unit, it can show said electric energy.
Of the present invention preferred aspect, control unit also comprises: the CO2 emission calculator, it can calculate the amount of CO2 emission based on said electric energy; With the CO2 emission display unit, it can show the amount of said CO2 emission.
Of the present invention preferred aspect; Pump controller comprises storing and is used to keep the discharge speed of the substantially invariable said pump of said terminal pressure and the storage of the relation between the discharge pressure; Said pump controller can calculate said torque command value, make the fluid that said waste side manometer is measured pressure with coincide according to the pressure of said relation corresponding to actual flow velocity.
Of the present invention preferred aspect, said pump controller can be carried out the constant constant control of discharge pressure of discharge pressure that is used to keep said pump.
The beneficial effect of the invention
According to the present invention, since permanent magnet compensation excitation, the energy that therefore need not be used to encourage.Thereby improved efficient.
And, concentrate winding as staor winding because adopt, the overall volume of winding can be very little with the end winding.Therefore, having reduced copper loss loses and has improved efficient.In addition, motor can make very compact.
In addition, because carry out except less than the variable velocity operation that also is in the scope of commercial frequency in the scope that is not less than commercial frequency, can realize being applicable to the efficient operation of load (for example discharge pressure) through vector control.
In addition, through using the interior permanent magnet motor can obtain following effect.Because permanent magnet is arranged in the rotor, can guarantee mechanical strength.Particularly can prevent the permanent magnet scattering reliably.In addition, owing to can utilize reluctance torque, improved torque characteristic.Because magnetic circuit has big salient pole property, can easily detect the position of magnetic pole of stator.Therefore, can more easily there be sensor control.
Description of drawings
Fig. 1 is the sectional view of expression according to the motor-mount pump that is integrated with controller of one embodiment of the present invention;
Fig. 2 is the side view of motor-mount pump shown in Figure 1;
Fig. 3 is the schematic section of motor shown in Figure 1;
Fig. 4 is the block diagram of the structure of expression control unit;
Fig. 5 is the schematic representation that wherein is applied to the structure of water feeding unit according to the motor-mount pump of said mode of execution;
Fig. 6 is the chart of the operating characteristic curve of the expression constant control of terminal pressure that is used to explain assessment;
Fig. 7 is the diagram of the table data of the relation between the total head of pump when showing the predetermined flow velocity of rotating speed and pump;
Fig. 8 is the diagram of the operating point of explanation pump;
Fig. 9 is the Q-H curve diagram of the principle of expression detection shutdown operation state;
Figure 10 is the flow chart that is used to detect the shutdown operation state;
Figure 11 is the Q-H plotted curve of another kind of method of the shutdown operation state of expression testing pump;
Figure 12 A to 12C is the principle of realtime power is measured in explanation according to the digital sampling method a diagram; And
Figure 13 is a diagram of measuring the principle of realtime power according to the sum-average arithmetic method.
Embodiment
Below will illustrate and describe the motor-mount pump that is integrated with controller that is combined with the control unit that is used for motor-mount pump according to the one of one embodiment of the present invention.
Fig. 1 is the sectional view of expression according to the motor-mount pump that is integrated with controller of one embodiment of the present invention, and Fig. 2 is the side view of motor-mount pump shown in Figure 1.As depicted in figs. 1 and 2, the motor-mount pump that is integrated with controller is the pumping unit with the control unit 3 that is installed on the motor 2.This motor-mount pump has integrative-structure, wherein is assembled with pump 1, motor 2 and control unit 3 integratedly.Pump 1 has the impeller 7 of the rotatingshaft 5 that is fixed to motor 2.Impeller 7 is arranged in the volute chamber 11 that is formed by pump case 10.Pump case 10 has suction opening 10a and the exhaust openings 10b that is communicated with volute chamber 11 fluids.Along with impeller 7 is rotated by motor 2, liquid (for example water) is incorporated in the volute chamber 11 through suction opening 10a, and is pressurized in volute chamber 11, and through exhaust openings 10b discharging.Between impeller 7 and the motor 2 mechanical seal 8 is set in case the solution stopping body gets into motor 2.
Being used to of being communicated with the suction opening 10a fluid of pump case 10 be set measures the suction side pressure transducer 14 of the suction side pressure of liquid.Safety check 15 is connected to exhaust openings 10b, and waste side pressure transducer 16 is connected to the waste side of safety check 15.Waste side pressure transducer 16 is the sensors of fluid pressure that are used to measure the waste side place of pump 1.The output signal of suction side pressure transducer 14 and waste side pressure transducer 16 sends to control unit 3 through signaling line (not illustrating among the figure).
Fig. 3 is the schematic section of motor 2 shown in Figure 1.Motor 2 has rotor 2a and the stator 2b that is contained in the motor casing 12.Rotor 2a is fixed to rotatingshaft 5, and stator 2b is fixed to the inner peripheral surface of motor casing 12.Embed among the rotor 2a a plurality of permanent magnets 20 are arranged.Stator 2b is configured to produce rotating magnetic field through the electric current from control unit 3 supplies, makes rotor 2a and rotatingshaft 5 rotate through this rotating magnetic field.
Fig. 4 is the block diagram of the structure of expression control unit 3.Control unit 3 comprise the inverter 25 that can produce the voltage that will be supplied to motor 2, can be according to the pump controller 30 of the operation of expectant control pattern control pump 1 and the vector controller 40 that can confirm to be used for the voltage instruction value of inverter 25.Pump controller 30 produces the make it torque command value τ of pressure of the waste side pressure that is used to allow pump 1
* Vector controller 40 receives torque command value τ
*And use known vector control method to confirm to be used for the voltage instruction value of inverter 25.Inverter 25 produces alternating electromotive force according to the voltage instruction value from vector controller 40.
The control mode of pump controller 30 is confirmed according to the application of motor-mount pump.For example, using under the situation of motor-mount pump as the water feeding unit, control mode comprises that the constant control of assessment terminal pressure, the constant control of discharge pressure, low flow velocity stop control, the control of difference constant pressure and the constant control of discharge speed.These control modes are described after a while.
Next will describe vector controller 40 in detail.Be fed to the three phase circuit Iu of motor 2 from inverter 25,, Iv and Iw measure through current probe 42, its measured value is sent to three-two phasing commutators 45.Three-two phasing commutators 45 can be transformed into three phase circuit Iu, Iv and the Iw on the three phase static reference system (u-v-w axle) biphase current I α and the I β on the two mutually static reference systems (alpha-beta axle) and further biphase current I α and I β are transformed into two biphase currents that rotate on the reference system (d-q axle), i.e. exciting current Id and moment of torsion electric current I q.
Torque command value τ
*Be input to instruction map device 47, at this torque command value τ
*Be transformed into exciting current command value Id
*With torque current command value Iq
*Exciting current setting device 48 is connected to instruction map device 47.Exciting current setting device 48 is to be used to specify exciting current command value Id
*Input device.Exciting current command value Id
*Characteristic according to motor 2 is confirmed.For example, the no-load electric current of motor 2 can be used as the setting value of exciting current.Instruction map device 47 is connected to storage 49, wherein stores the constant (that is, depending on the for example R of motor 2 and the fixed value of L) of motor 2.These constants are input to storage 49 through the input device that does not have explanation.Storage 49 can be attached in the instruction map device 47.The constant of the motor 2 of instruction map device 47 from be stored in storage 49 and the exciting current command value Id that sets through exciting current setting device 48
*Calculated torque current instruction value Iq
*This calculating can be used like disclosed known method among the Japanese publication No.H09-9700 and carry out.
The constant of motor 2 can be from acquisitions such as motor specification, motor inspection record tables.Replacement manually is input to input device with known constant, and control unit 3 can have with scheduled operation pattern drive motor 2 time automatic tuning capabilities of measuring the constant of motor 2 from its operating result automatically.More specifically; Voltage rating and rated frequency input initial value input device 50 with motor 2; Variation voltage in the rated range is applied to motor 2 from inverter 25, is stored in the storage 49 at the following calculating motor constant of various conditions (voltage/frequency) and with the motor constant that obtains.
With the moment of torsion electric current I q of three-two phasing commutators, 45 conversion and the torque current command value Iq of instruction map device 47 conversion
*Be input to phase calculator 52, it confirms angular frequency and the phase theta of the rotor 2a of motor 2.More specifically, with moment of torsion electric current I q and torque current command value Iq
*Be input to the subtractor 53 of phase calculator 52, at this calculated torque electric current I q and torque current command value Iq
*Between deviation.This deviation is imported into integrator (PI controller) 54, the angular frequency of its output rotor 2a.The angular frequency that obtains further is input to integrator 55, the phase theta of its output rotor 2a.
With exciting current command value Id
*, torque current command value Iq
*, exciting current Id, moment of torsion electric current I q and angular frequency be input to current controller 58.This current controller 58 produces and allows exciting current Id and moment of torsion electric current I q to meet exciting current command value Id respectively
*With torque current command value Iq
*D shaft voltage command value Vd
*With q shaft voltage command value Vq
*Particularly, current controller 58 calculating can be with exciting current Id and exciting current command value Id
*Between deviation be reduced to 0 d shaft voltage command value Vd
*, and further calculating can be with moment of torsion electric current I q and torque current command value Iq
*Between deviation be reduced to 0 q shaft voltage command value Vq
*
With voltage instruction value Vd
*, Vq
*Be input in two-three-phase inverter 59 voltage instruction value Vd with phase theta
*And Vq
*Be transformed to three-phase voltage command value Vu at this
*, Vv
*And Vw
*(u-phase, v-phase and w-are mutually).More specifically, the two voltage instruction value Vd that rotate on the reference system (d-q axle)
*And Vq
*Changed into the voltage instruction value V α on the two mutually static reference systems (alpha-beta axle)
*With V β
*Voltage instruction value V α
*With V β
*Further changed into the three-phase voltage command value Vu on the three phase static reference system (u-v-w axle)
*, Vv
*And Vw
*With the three-phase voltage command value Vu that obtains
*, Vv
*And Vw
*Be input to the drive circuit 26 of inverter 25.In this way, vector controller 40 three phase circuit that will be supplied to motor 2 resolves into moment of torsion current component and exciting current component and controls these current components independently.
Above-mentioned torque command value τ
*In pump controller 30, produce.This torque command value τ
*Control mode according to pump controller 30 changes.For example; Can carry out at pump controller 30 under the situation of the constant control of discharge pressure; Deviation between measured value of subtractor 32 calculation of Emission side pressure sensor 16 (being the actual pressure of the waste side of pump 1) and the goal-selling pressure; PI controller 33 calculates can be reduced to this deviation 0 rotating speed of target, and subtractor 34 calculates the deviation between rotating speed of target and the current rotating speed of being confirmed by angular frequency, and 35 calculating of PI controller can be reduced to this deviation 0 torque command value τ
*
Fig. 5 is the schematic representation that wherein is applied to the structure of water feeding unit according to the motor-mount pump of above-mentioned mode of execution.As shown in Figure 5, pressure transducer 14 is arranged on the suction side of pump 1, makes the suction side pressure of pump 1 measure through pressure transducer 14.Flow switch 19 is arranged on the downstream of safety check 15, and pressure transducer 16 and forbay 18 are arranged on the downstream of flow switch 19.Pressure transducer 16 is measured the waste side pressure (that is, putting on the back pressure of water feeding unit) of pump 1.
In being used as the motor-mount pump of water feeding unit, pump 1 is operated with variable velocity through inverter 25 based on the output signal of pressure transducer 16.Typically, in the water feeding unit, carry out the constant control of discharge pressure and perhaps assess the constant control of terminal pressure.The constant control of discharge pressure is that the service speed of wherein pump 1 is controlled such that the pressure signal (that is the discharge pressure of pump 1) and the identical controlling method of goal-selling pressure that pressure transducer 16 is measured.The constant control of assessment terminal pressure is to be used for through changing the controlling method that goal pressure keeps the constant water pressure at water out place, terminal according to the pipeline resistance.
The constant control of assessment terminal pressure will be described with reference to illustrated Fig. 6 of expression operating characteristic curve.In Fig. 6, horizontal axis is represented the flow velocity of water, and pivotal axis is represented pressure head (below can be described as " pressure "), and curve N x represents the operating characteristics of pump under the invariablenes turning speed condition of pump 1.Resistance curve R representative is according to the pipeline resistance from pump 1 water out (for example, tap) to the terminal of the change in flow of water.Resistance curve R has shown and has been used for terminal pressure is kept the discharge speed of substantially invariable pump 1 and the relation between the discharge pressure.This resistance curve R is stored in the storage 38 of pump controller 30.
In the constant control of assessment terminal pressure, consideration comes the rotating speed of control pump 1 according to the pipeline resistance (R representes through resistance curve) of the change in flow of the water that uses.Particularly, the rotating speed of pump 1 is controlled based on the measured value of pressure transducer 16, makes the discharge pressure of pump 1 change along resistance curve R.In pump controller 30; Deviation between the measured value of subtractor 32 (see figure 4) calculation of Emission side pressure sensor 16 and the goal pressure confirmed through flow velocity Q and resistance curve R; PI controller 33 calculates and can this deviation be reduced to 0 rotating speed of target; The deviation that subtractor 34 calculates between rotating speed of target and the current rotating speed, PI controller 35 calculates and can this deviation be reduced to 0 torque command value τ
*Flow velocity Q can be confirmed by the rotating speed of pump 1 indirectly.
In example shown in Figure 6, the rotating speed of pump 1 is controlled between Na (being used for when flow velocity is maximum, realizing the rotating speed of goal-based assessment terminal pressure) and the Nb (be used at flow velocity is the rotating speed of 0 o'clock realization goal-based assessment terminal pressure).For example, at flow velocity Q1 place, pump 1 is operated with rotational speed N c.Symbol Pa among Fig. 6 representative is at the discharge pressure that is used for when flow velocity is maximum, realizing the pump 1 that the goal-based assessment terminal pressure is required, and it is to realize the discharge pressure of the pump 1 that the goal-based assessment terminal pressure is required at 0 o'clock that symbol Pb representative is used at flow velocity.
In the constant control of assessment terminal pressure, the discharge speed of pump 1 is assessed by the rotating speed of pump 1, and confirms the goal pressure corresponding with each flow velocity.Yet the rotating speed of pump 1 and the relation between the discharge speed are according to the suction side variation in pressure of pump 1.Therefore, when the suction side pressure surge of pump 1, can not assess discharge speed accurately.Therefore, pump controller 30 is configured to the discharge speed based on the suction side pressure compensation assessment of the pump of measuring through suction side pressure transducer 14 1.
The pump operated control mode that pump controller 30 is carried out comprises the constant control of discharge pressure, the constant control of assessment terminal pressure, the control of difference constant pressure and the constant control of discharge speed.These control modes are specified by control mode setting device 37 and are given pump controller 30.The user can select the control mode of hope through control mode setting device 37.
Difference constant pressure control is the controlling method that is used between the suction side pressure of pump 1 and waste side pressure, keeping constant difference pressure.In this control; Do not have the subtractor of explanation to calculate by the suction side pressure of suction side pressure transducer 14 measurements with by the difference pressure between the waste side pressure of waste side pressure transducer 16 measurements; Subtractor 32 calculates the deviation between difference pressure and the target difference pressure of presetting; PI controller 33 calculates and can this deviation be reduced to 0 rotating speed of target, the deviation that subtractor 34 calculates between rotating speed of target and the current rotating speed, and PI controller 35 calculates and can this deviation be reduced to 0 torque command value τ
*
The constant control of discharge speed is the constant controlling method of discharge speed that is used to keep pump 1.The constant control of this discharge speed will be described with reference to Fig. 7 and Fig. 8.As initial step, be fixed as the table data of the relation between expression rotational speed N and the total head that obtains under the condition of target flow velocity Q1 at the discharge speed of pump 1.Fig. 7 has shown the table data that obtain.Show that the rotational speed N of pump 1 and the table data of the relation between the total head can obtain from actual measurement.Particularly, through being fixed as at discharge speed under the condition of Q1, when pump 1 is operated with a plurality of rotating speeds, measuring total head and obtain to show data.Fig. 8 is the discharge speed of expression pump 1 and the chart of the relation between the discharge pressure.In order to simplify explanation, suppose that suction side pressure is 0.At suction side pressure is 0 o'clock (measured value that is suction side pressure transducer 14 is 0), and discharge pressure equals total head.
In Fig. 8, symbol SC representative is by the resistance of the system system curve definite with loss.When the rotating speed of pump 1 was N2, the operating point of pump 1 was the point of intersection A of operating characteristic curve at rotational speed N 2 and system curve S C place.Be that the discharge pressure at operating point A place shows total head (actual total head) under 0 the condition at suction side pressure.On the other hand, in table data shown in Figure 7, when the rotating speed of pump 1 was N2, total head (target total head) was PB.Therefore, the rotating speed of pump 1 increases or reduces to make the deviation between the target total head at corresponding rotating speed place on actual total head and the data form to become 0.Particularly; Subtractor 32 (see figure 4)s are calculated the deviation between the target total head on actual total head and the data form; PI controller 33 calculates and can this deviation be reduced to 0 rotating speed of target; The deviation that subtractor 34 calculates between rotating speed of target and the current rotating speed, PI controller 35 calculates and can this deviation be reduced to 0 torque command value τ
*
According to this controlling method of pump 1, it is constant that discharge speed can keep, and the waste side that not be used in pump 1 provides the constant flow rate valve.And, because pump 1 can so that the mode of the loaded matching of the discharge pressure of pump 1 and use operate, i.e. system's curve S C, being difficult to of can solving that the big pressure loss by constant flow rate valve place causes regulated the problem of the discharge pressure of pump 1.Therefore, can realize optimal operations.For example, when system's curve was to show like the dotted line SC ' among Fig. 8, pump 1 was operated with point of intersection C.
The rotating speed and corresponding that pump controller 30 also has a pump 1 is shut down the data form of relation between the pressure (or not discharge pressure).This data form is measured pump 1 through the rotating speed that increases pump 1 in the outage state of setting up through the valve (not shown) of closing the waste side that is positioned at pump 1 basically gradually rotating speed forms with shutdown pressure.Shutting down pressure can measure through waste side pressure transducer 16.The data form that obtains is stored in the storage 38 of pump controller 30.The indicatrix of the pump 1 that uses is normally in advance known.In this case, the rotating speed of pump 1 can produce from known indicatrix with the data form of shutting down pressure, and thus obtained data form can be stored in the storage 38 of pump controller 30.The water feeding unit also needs other control projects, the rotating speed and corresponding data of shutting down pressure of the pump that for example is used for using in assessment terminal pressure constant control.Therefore, can use the independent this data form of preparing.
Fig. 9 is the Q-H curve diagram of the principle of expression detection shutdown operation state.In Fig. 9, current operating point limits through waste side pressure P and flow velocity Q.At this operating point, the rotating speed of pump 1 be N+ and corresponding to rotational speed N+shutdown pressure be P+.As can see from accompanying drawing, in normal flow, the measuring pressure P at operating point place inevitable less than with the shutdown pressure P of rotational speed N+corresponding+.That is, pressure P and shut down pressure P+between relation be P+＞P.
On the other hand, constant and flow velocity Q becomes when being almost 0 when the waste side pressure P, and pump gets into so-called shutdown operation state (perhaps not emissions operation state).Because safety check 15 is one-way valves, the comparable goal pressure of the pressure in safety check 15 downstream is slightly high.In this case, the pressure of measurement surpasses goal pressure.Therefore, deceleration instruction is distributed to pump 1.Yet at the shutdown operation state, waste side pressure even when pump speed reduces, be not reduced to below the goal pressure is because waste side pressure keeps through safety check 15.Therefore, when rotating speed is reduced to N-, the shutdown pressure P-less than measuring pressure P.That is, pressure P and shut down pressure P-between relation be P＞P-.From this relation, the flow velocity that can detect the water that wherein discharges is 0 dead halt serviceability.
Figure 10 is the flow chart that is used to detect said shutdown operation state.At first, judge by the current waste side pressure P of pressure transducer 16 measurements with corresponding to the relation between the pump shutdown pressure P x of current rotating speed.As shown in Figure 9, be Q at the current flow velocity of water, and the waste side pressure of measuring is when being P, corresponding to current rotational speed N+shutdown pressure P+greater than the current pressure P that measures.Therefore, judge that pump 1 is not in the shutdown operation state, and continue normal running.By contrast, become 0 and when setting up the shutdown operation state, waste side pressure keeps through safety check 15, and therefore is not reduced to goal pressure P at flow velocity Q.In this case, in order to reduce the waste side pressure of pump 1,, make the rotating speed of pump 1 reduce to pump 1 issue deceleration instruction.As a result, become less than pressure P (that is P＞Px), corresponding to the shutdown pressure P x of rotating speed.This state is judged as the shutdown operation state, carries out low flow velocity shut-down operation.Preferably reach the preset time cycle and judge that from the fact that this state has continued pump has got into the shutdown operation state through this state of detections such as timer.
Figure 11 is the Q-H plotted curve of another kind of method of the shutdown operation state of expression testing pump 1.In this detecting method, when the rotating speed of pump 1 is reduced to the HzB corresponding with the goal pressure PB at shutdown operation place, pump controller 30 is reduced to the rotating speed of pump 1 a little less than the rotating speed of rotating speed HzB (for example, HzB-1Hz).At this state, the pressure that pump controller 30 is measured to scheduled time monitoring waste side pressure transducer 16 whether be reduced to predetermined value (for example, PB-1m) below.If pressure does not reduce, judge that so pump is in the shutdown operation state, because the pressure change that safety check 15 does not allow waste side pressure transducer 16 to measure, even also like this when the rotating speed of pump 1 reduces.Then, carry out the low flow velocity shut-down operation of pump 1.In this low flow velocity shut-down operation, rotating speed is increased to HzB ' certain hour section, and with the pressure P B with respect to the Check point place of shutdown operation discharge pressure being raise several meters (for example+3m), then stops pump 1.On the other hand, if the pressure that pressure transducer 16 is measured then continues normal running, because pump 1 is not in the dead halt serviceability because the deceleration-operation of pump 1 reduces.
In low flow velocity shut-down operation, carry out the accumulation of pressure operation through discharge pressure being increased to PB+3m.Surpass corresponding shutdown operation speed HzB ' 1Hz or more if the rotating speed of pump 1 increases in low flow velocity shut-down operation, normal running is returned in the operation of pump 1.Typically, in low flow velocity shut-down operation, pump 1 is with the rotating speed HzB ' operation corresponding to goal pressure (PB+3m).But,, judge that then the shutdown operation state finishes if the flow velocity of water increases in low flow velocity shut-down operation process.In this case, pump 1 returns normal running from low flow velocity shut-down operation.
Refer back to Fig. 4, with the power consumpiton Presentation Function of description control unit 3.Control unit 3 has electric power and calculates device 61, and is as shown in Figure 4.This electric power is calculated device 61 and is had the inverter input power calculator 61A of the electric power input that can calculate inverter 25 and the motor input power calculator 61B of the electric power input that can calculate motor 2.The input side of inverter 25 is connected to commercial ac power source, the three phase power of the 200V of its supply 50Hz or 60Hz, and the outlet side of inverter 25 is connected to motor 2.Inverter 25 exchanges (AC) power to what motor 2 supply had hope frequency and voltage.To be input to AC/DC transducer 27 from the three phase power of input power supply, it converts three phase power to DC power.The electric current of direct current (DC) power and voltage are measured through current probe 63 and voltage detector 64.Electric current and the voltage measured are imported into inverter input power calculator 61A, at this rated output.
The electric current and the phase-to-phase voltage that are input to motor 2 are measured through current probe 42 and voltage detector 43.Measure at least two in three phase circuit and the voltage mutually.Electric current and the magnitude of voltage measured are imported into motor input power calculator 61B, and its measured value from voltage and current calculates the actual power that is supplied to motor 2.
Figure 12 A to Figure 12 C is the principle of actual power is measured in explanation according to the digital sampling method a diagram.Particularly, Figure 12 A demonstration is from the sampling result of the voltage waveform of the output value acquisition of voltage detector 43.Similarly, Figure 12 B demonstration is from the sampling result of the current waveform of the output value acquisition of current probe 42.Generally speaking, actual power is through quadraturing to instantaneous electric power (it is the product of the momentary value of voltage and current) and obtaining divided by cycle T with the integral value that obtains.Be used for confirming that the equation of actual power is expressed as:
Wherein, e (t) is the momentary value of voltage at moment t, and i (t) is the momentary value of electric current at moment t, and e (k) is the momentary value of voltage in the k sub-sampling, and i (k) is the momentary value of electric current in the k sub-sampling, and T is the cycle.
As can see that actual power confirms divided by cycle T through the summation (an above cycle) with many instantaneous electric powers from the right-hand side of top approximate equation.Every instantaneous electric power has the width that limits through sample interval Δ t.Bar number in the one-period is the k that is confirmed by T/ Δ t.Motor input power calculator 61B carries out the calculating of top equation approx, to measure power according to the digital sampling method.In actual practice, in order to increase measuring accuracy, the time that is used for measured waveform is set longlyer than one-period usually.Typically, sample interval Δ t is set at tens microseconds, and the inverse of Δ t is a sampling frequency.Top equation has showed the actual power of a phase.Therefore, three actual powers in mutually are three times of the actual power that provides of top equation.
Figure 13 is the principle of actual power is measured in explanation according to the sum-average arithmetic method a diagram.Symbol among Figure 13 (a) expression is as the voltage input waveform and the electric current input waveform of the output of voltage detector 43 and current probe 42.Through upward voltage and current being quadratured with respect to the product of the momentary value of time at one-period (or n cycle) and providing actual power divided by the said cycle with the integral value that obtains.Be used for confirming that the equation of actual power is expressed as:
Wherein, V (t) is the momentary value of voltage at moment t, and i (t) is the momentary value of electric current at moment t, and n is an integer, and T is the cycle.
Must be directed against one-period (perhaps n cycle) takes a sample to the input waveform of voltage and current exactly.In this method, in order to realize accurate sampling, use makes the cycle synchronisation of the input waveform of sample interval and voltage and current based on the zero cross signal (shown in the symbol among Figure 13 (b)) of the input waveform of electric current.Through the approximate equation that uses top equation calculate efficient sampling at interval in voltage and current momentary value product on average obtain actual power.When the input waveform of electric current was very little, the waveform of service voltage was as zero cross signal.Approximate equation is expressed as:
Wherein, v (k) is the momentary value of voltage in the k sub-sampling, and i (k) is the momentary value of electric current in the k sub-sampling, and N is and the number of samples of importing cycle synchronisation.
Electric power is calculated that power that power that device 61 confirms inverter input power calculator 61A and motor input power calculator 61B confirm adds together and the performance number of gained is stored in the storage (not shown) of wherein setting.The performance number of calculating device 61 calculating through electric power is imported into electric power integrator 66.This electric power integrator 66 can be through at interval quadraturing and come the electric energy (kWh) of unit of account time with the integral value of confirming the unit time being stored in performance number in the storage in succession with preset time.The electric energy (kWh) of the unit time of calculating is like this outputed to electric energy display unit 67.The electric energy (kWh) of these 67 unit of display times of electric energy display unit.
The electric energy (kWh) that is calculated by electric power integrator 66 is imported into electricity price calculator 68 and CO2 emission calculator 73.Electricity price storage 70 is connected to electricity price calculator 68, and electricity price input device 71 is connected to electricity price storage 70.Electricity price input device 71 is input units of numeric keyboard for example, can import the electricity price of unit of electrical energy through it.Because the electricity price of unit of electrical energy changes according to the difference of power company, the electricity price of the unit of electrical energy that is provided by power company is set through electricity price input device 71 by the user.The electricity price of the unit of electrical energy through electricity price input device 71 input is stored in the electricity price storage 70.Electricity price calculator 68 calculates electricity price through the electric energy (kWh) that multiply by 66 calculating of electric power integrator with the electricity price that is stored in the unit of electrical energy in the electricity price storage 70.The electricity price that electricity price calculator 68 obtains is sent to electricity price display device 69, shows electricity price at this.Base price and night possibly there are differences between the valency.In this case, can use the time clock feature that is arranged in the electricity price calculator 68 to store the accumulation electric energy at night and the accumulation electric energy on daytime separately, thereby can calculate electricity price to each time zone.
The CO2 emission factor storage 74 that is used to store the CO2 emission factor is attached to CO2 emission calculator 73.In addition, the CO2 emission factor input device 75 that is used to import the CO2 emission factor is attached to CO2 emission factor storage 74.The CO2 emission factor is the factor that is used for being calculated by the electric power consumption of electric equipment CO2 emissions.The unit of the CO2 emission factor is t-CO
2/ kWh refers to the CO2 emissions of per unit electric energy (kWh).This factor changes according to the difference of power company, and all change every year.The CO2 emission factor is issued by each power company per year.
When CO2 emission factor input device 75 was imported the CO2 emission factors, the CO2 emission factor was stored in the CO2 emission factor storage 74 the user.CO2 emission calculator 73 is by the CO2 emission factor and pass through the CO2 emissions of the electric energy unit of account time of electric power integrator 66 calculating.These CO2 emissions are sent to CO2 emission display unit 76, to show the CO2 emissions that calculate.
Should be noted that motor-mount pump according to the present invention is not limited to above-described mode of execution and is not limited to the example in the accompanying drawing.And, can carry out multiple modification within the scope of the invention.
Industrial applicibility
The present invention is applicable to the whole motor-mount pump that is integrated with controller that is used for based on the control unit of vector control control motor that is combined with wherein.
Claims (8)
1. motor-mount pump that is integrated with controller comprises:
Pump;
Motor, it can drive said pump;
Control unit, it can control said motor; With
The waste side manometer, it can measure the pressure of fluid of the waste side of said pump;
Wherein, said control unit is installed on the motor casing of said motor,
Wherein, said pump comprises:
Impeller, it is fixed to the rotatingshaft of said motor; With
Pump case is wherein held said impeller,
Wherein, said control unit comprises:
Inverter, it can produce frequency and be in the AC power that comprises more than or equal in the band of the frequency of commercial frequency,
Pump controller, its can produce the operation that is used to control said pump the torque command value and
Vector controller, it can confirm to be used for the voltage instruction value of said inverter based on said torque command value, and
Wherein, said motor has rotor, and said rotor has a plurality of permanent magnets.
2. motor-mount pump according to claim 1; Wherein, said pump controller can be carried out the constant control operation of assessment terminal pressure, wherein; Calculate goal pressure and make the discharge speed regardless of said pump, all keep substantially constant by the terminal pressure in the outlet port of the fluid of said pump pressurization.
3. motor-mount pump according to claim 1 and 2, wherein:
Said control unit also comprises can measure the current probe that will be supplied to the three phase circuit of said motor from said inverter; And
Said vector controller comprises:
Three-two phasing commutators, it can convert three phase circuit to two exciting current and the moment of torsion electric currents that rotate on the reference system,
The instruction map device, it can convert the torque command value to exciting current command value and torque current command value,
Current controller; It can calculate and be used for the deviation between said exciting current and the said exciting current command value is reduced to 0 d shaft voltage command value; And can calculate and be used for the deviation between said moment of torsion electric current and the torque current command value is reduced to 0 q shaft voltage command value
Two-three-phase inverter, its can with said d shaft voltage command value and said q shaft voltage command value convert on the three phase static reference system the three-phase voltage command value and
Phase calculator, it can calculate the angular frequency and the phase place of said rotor.
4. according to each described motor-mount pump among the claim 1-3, wherein, said motor is the interior permanent magnet motor, and wherein said a plurality of permanent magnets are embedded in the said rotor.
5. according to each described motor-mount pump among the claim 1-4, wherein, said control unit also comprises:
Electric power is calculated device, and it can calculate the electric power and the electric power of calculating the said inverter of input of the said motor of input;
The electric power integrator, it can carry out integration to confirm the electric energy of unit time to the value that said electric power is calculated the electric power that device calculates; And
The electric energy display unit, it can show said electric energy.
6. motor-mount pump according to claim 5, wherein, said control unit also comprises:
The CO2 emission calculator, it can calculate the amount of CO2 emission based on said electric energy; With
The CO2 emission display unit, it can show the amount of said CO2 emission.
7. motor-mount pump according to claim 2; Wherein, Said pump controller comprises storing and is used to keep the discharge speed of the substantially invariable said pump of said terminal pressure and the storage of the relation between the discharge pressure; Said pump controller can calculate said torque command value, make the fluid that said waste side manometer is measured pressure with coincide according to the pressure of said relation corresponding to actual flow velocity.
8. motor-mount pump according to claim 1, wherein, said pump controller can be carried out the constant constant control of discharge pressure of discharge pressure that is used to keep said pump.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010-052509 | 2010-03-10 | ||
| JP2010052509A JP2011185190A (en) | 2010-03-10 | 2010-03-10 | Control device integrated type motor pump |
| PCT/JP2011/056132 WO2011111865A1 (en) | 2010-03-10 | 2011-03-09 | Controller-integrated motor pump |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102792028A true CN102792028A (en) | 2012-11-21 |
Family
ID=44560175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011800133296A Pending CN102792028A (en) | 2010-03-10 | 2011-03-09 | Controller-integrated motor pump |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20110223038A1 (en) |
| EP (1) | EP2545281A1 (en) |
| JP (1) | JP2011185190A (en) |
| CN (1) | CN102792028A (en) |
| WO (1) | WO2011111865A1 (en) |
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| CN107023496A (en) * | 2015-11-03 | 2017-08-08 | 格兰富控股联合股份公司 | Centrifugal pump group |
| CN109479387A (en) * | 2016-07-20 | 2019-03-15 | 斯泰克波尔国际工程产品有限公司 | Pump assembly with integrated manipulator and motor with internal active cooling |
| CN113106707A (en) * | 2021-04-13 | 2021-07-13 | 无锡好力泵业有限公司 | Washing machine frequency conversion drain pump and washing machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2545281A1 (en) | 2013-01-16 |
| WO2011111865A1 (en) | 2011-09-15 |
| US20110223038A1 (en) | 2011-09-15 |
| JP2011185190A (en) | 2011-09-22 |
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