CN102857171B - Multi-motor synchronous control system - Google Patents
Multi-motor synchronous control system Download PDFInfo
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- CN102857171B CN102857171B CN201210352344.XA CN201210352344A CN102857171B CN 102857171 B CN102857171 B CN 102857171B CN 201210352344 A CN201210352344 A CN 201210352344A CN 102857171 B CN102857171 B CN 102857171B
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Abstract
The invention provides a multi-motor synchronous control system which comprises a main machine control device for controlling a main machine and a secondary machine control device for controlling a secondary machine. The multi-motor synchronous control system is characterized in that the main machine control device and the secondary main machine both use a vector control method to control the main machine and the secondary machine, the main machine control device is connected with the secondary machine, a motor state of the main machine can be transmitted to the secondary machine control device, the secondary machine control device can limit the synchronous rotation speed of the secondary machine according to the motor state of the main machine when the synchronous rotation speed of the secondary machine is greatly different from the synchronous rotation speed of the main machine, and the synchronous rotation speed of the secondary machine is limited to enable the secondary machine to keep synchronous with the machine.
Description
Technical field
The present invention is applied to industrial electric transmission field, relates to the Synchronization Control to many motors.
Background technology
Electric Machine Control has three kinds of mode: V/F controls, Speedless sensor vector speed sensor vector control usually; In V/F control mode, it is a kind of macro-control, during Synchronization Control for many motors, and main frame and little from machine difference on microcosmic; Synchronization Control ratio is easier to realize; In speed sensor vector control, its motor speed is calculated out by code-disc, and precision is higher; Main frame and from the Synchronization Control of machine be also easy to realize; And speed-sensorless control is just different, its motor speed estimates, and precision is relevant with the parameter of electric machine, and the more accurate precision of parameter is higher; But the parameter of electric machine is difficult to accurately measure, and when institute is for multi-motor synchronous control, the identification because of principal and subordinate's motor speed has deviation, and Synchronization Control is more difficult.Synchronization Control mentioned here comprises: main frame and from the mode of machine coaxial (rigid attachment) with disalignment (flexible connected).On hardware, main frame and between machine signal transmit now widely used be fax.
Because speed-sensorless control eliminates, the trouble such as code-disc is installed, controls with V/F, compared with speed sensor vector control, the scope of application is wider.But be core technology owing to debating the speed knowing motor in the control of Speedless sensor vector, and the identification of the consistency of the parameter of electric machine to motor speed has a significant impact, same model also has minute differences with the series-produced parameter of electric machine, all can affect the identification of motor speed; Have the speed ring of each frequency converter to be all separate again, like this, when carrying out Synchronization Control to multiple electric motors, another also may in deceleration in acceleration to have in a flash one at certain, and this has just occurred problems such as being at loggerheads.
The object of the invention is to solve problems of the prior art, even if main frame and have error by the rotating speed estimated or record and actual rotating speed from machine, also can make main frame and keep synchronous operation well from machine, the problem such as avoid being at loggerheads occurs.
Summary of the invention
Technical scheme of the present invention is that the motor status of main frame in time, is accurately delivered to each from machine; Comprising: motor rises/stops, motor torque electric current, motor slip ratio, motor estimation rotating speed.When the difference of the synchronous speed from the synchronous speed of machine and main frame is greater than synchronous speed amplitude limit value, limits the synchronous speed from machine, make to keep synchronous from machine and main frame.
Accompanying drawing explanation
Fig. 1 is the explanation block diagram of synchronous control system for multiple motors of the present invention;
Fig. 2 is the system block diagram of host computer control device;
Fig. 3 is the system block diagram from machine control device;
Fig. 4 is from machine synchronous speed amplitude limit flow chart;
Embodiment
As shown in Figure 1, multi-machine system is by main frame 1a, from machine 2a, from machine 3a, form from machine 4a.Main frame 1a, from machine 2a, from machine 3a, from machine 4a coaxial rigid connection respectively by host computer control device 1, from machine control device 2, from machine control device 3, control from machine control device 4.Host computer control device 1, from machine control device 2, from machine control device 3, adopt Speedless sensor vector to control respectively from machine control device 4, make main frame 1a, from machine 2a, from machine 3a, keep synchronous operation from machine 4a.Host computer control device 1 is connected with being passed from machine control device (2,3,4) by light, the state of main frame 1a as, rise/stop, revolutional slip, torque current, the estimated speed (identification speed) etc. of main frame 1a is passed by light, is periodically transferred to each from machine control device (2,3,4).Each from machine control device (2,3,4) in conjunction with the state of main frame 1a, adjust the synchronous speed from machine (2a, 3a, 4a), make to keep synchronous operation from machine (2a, 3a, 4a) with main frame 1a.In the present embodiment, from machine 2a, from machine 3a, from machine 4a and from machine control device 2, from machine control device 3, adopt identical structure from machine control device 4, below, for host computer control device 1, be described from machine control device 2.
Fig. 2 is the system block diagram of host computer control device, as shown in Figure 2, host computer control device 1 by main frame frequency converter 1b, engine torque electric current/exciting current calculator 1c, main frame revolutional slip calculator 1d, engine speed estimation device 1e, engine speed controller 1f, engine speed pi regulator 1g, engine torque current calculator 1h, main frame exciting current calculator 1i, main frame frequency-variable controller 1j are formed.
Engine torque electric current/exciting current calculator 1c tries to achieve the torque current it1 of main frame 1a by the method for Coordinate Conversion according to the drive current (ia1, ib1, ic1) of main frame 1a, exciting current im1.
Main frame revolutional slip calculator 1d calculates the revolutional slip ω s1 of main frame 1a according to the torque current it1 of main frame 1a, exciting current im1.
Engine speed estimation device 1e calculates the estimation rotational speed omega 1 of main frame 1 according to the drive current (ia1, ib1, ic1) of main frame 1a and driving voltage (va1, vb1, vc1) by the mode of estimation.Evaluation method adopts prior art to estimate as utilized the Mathematical Modeling of motor.
Estimation rotational speed omega 1 feeds back to engine speed controller 1f.Engine speed controller 1f calculates the difference between the desired value ω ref of rotating speed and estimation rotational speed omega 1, this difference after engine speed pi regulator 1g proportional integral (PI) computing, calculates torque current itref1 by engine torque current calculator 1h as controlled quentity controlled variable.Main frame frequency-variable controller 1j is according to the synchronous speed x of the revolutional slip ω s1 of main frame 1a and estimation rotational speed omega 1 computation host 1a, integral operation is carried out to synchronous speed x and tries to achieve flux linkage position of the rotor θ, by flux linkage position of the rotor θ, carry out Coordinate Conversion to the torque current itref1 of main frame and exciting current imref1 to produce control signal and control main frame frequency converter 1b, the rotating speed of main frame and desired value ω ref are consistent.
Above, control with the rotating speed of the mode of closed loop to main frame, also can carry out closed-loop control to engine torque electric current and exciting current as required.Now, the torque current it1 of reality, exciting current im1 are fed back, input main frame frequency-variable controller 1j by torque current itref1 and exciting current imref1 and its difference as controlled quentity controlled variable.More than sketched Speedless sensor vector control technology of the present invention, control to adopt any prior art as Speedless sensor vector, its detailed description with reference to existing document, can not repeat them here.
Fig. 3 is the system block diagram from machine control device, as shown in Figure 2, from machine control device 2 by from machine frequency converter 2b, from machine torque current/exciting current calculator 2c, from machine revolutional slip calculator 2d, from machine turn count device 2e, from machine rotational speed governor 2f, from machine rotating speed pi regulator 2g, from machine torque current calculator 2h, from machine exciting current calculator 2i, form from machine frequency-variable controller 2j.Compared with the host computer control device 1 of Fig. 2, from machine control device 2 only different to existing in the process of synchronous speed from machine frequency-variable controller 2j, remainder is all identical.
Below, be only described the process of synchronous speed from machine frequency-variable controller 2j, remainder is with reference to the explanation of above host computer control device 1.
Fig. 4 is from machine frequency-variable controller 2j, to the flow chart carrying out amplitude limit from machine synchronous speed, as shown in Figure 4,
In step 1, according to the synchronous speed X of rotational speed omega 1 computation host 1 of the revolutional slip ω s1 of main frame 1a and the main frame 1 of estimation.
In step 2, according to calculating synchronous speed Y from machine 2 from the revolutional slip ω s2 of machine 2a and estimation from the rotational speed omega 2 of machine 2.
In step 3, calculate the amplitude limit value H from machine synchronous speed.Amplitude limit value H can calculate according to the electrical characteristic from machine, also can be precalculated, is stored in memory, calls when needing.
In step 4, the synchronous speed X of the computation host 1 and synchronous speed difference Z from the synchronous speed Y of machine 2.
In step 5, compare the size of synchronous speed difference Z and amplitude limit value H, as synchronous speed difference Z is greater than amplitude limit value H, then limit from machine synchronous speed, make synchronous speed difference Z remain in less scope, as synchronous speed difference Z is less than or equal to amplitude limit value H, then flow process terminates.
Below, citing is described from machine synchronous speed amplitude limit.
1. control during synchronous speed difference Z< synchronous speed amplitude limit value H.
Such as:
Engine speed=50Hz
Main frame slip speed=0.1Hz
Host synchronization speed X=50+0.1=50.1Hz
From motor speed=50Hz
From machine slip speed=0.12Hz
From machine synchronous speed Y=50+0.12=50.12Hz
Synchronous speed difference=50.12-50.1=0.01Hz
Synchronous speed amplitude limit value H=0.05Hz
Synchronous speed difference Z< synchronous speed amplitude limit value H
Then the synchronous speed from machine 2a is not revised, now, from machine frequency-variable controller 2j according to from machine synchronous speed Y (50.12Hz), after calculating flux linkage position of the rotor θ, produce control signal control from machine frequency converter 2b carrying out Coordinate Conversion from the torque current itref2 of machine and exciting current imref2, make to be consistent from the rotating speed of machine and desired value ω ref.
2. control during synchronous speed difference Z> synchronous speed amplitude limit value H.
Such as:
Main frame speed=50Hz
Main frame slip speed=0.1Hz
Host synchronization speed X=50+0.1=50.1Hz
From motor speed=50Hz
From machine slip speed=0.19Hz
From machine synchronous speed Y=50+0.19=50.19Hz
Synchronous speed difference=50.19-50.1=0.09Hz
Synchronous speed amplitude limit value=0.05Hz
Synchronous speed difference Z> synchronous speed amplitude limit value H
Then correction is made to the synchronous speed from machine 2a.
Now, using host synchronization speed X be added with synchronous speed amplitude limit value H after value as the synchronous speed Y from machine.That is, from machine synchronous speed Y=50.1+0.05=50.15Hz.From machine frequency-variable controller 2j according to from machine synchronous speed Y (50.15Hz), after calculating flux linkage position of the rotor θ, produce control signal control from machine frequency converter 2b carrying out Coordinate Conversion from the torque current itref2 of machine and exciting current imref2, make to be consistent from the rotating speed of machine and desired value ω ref.
It is more than the embodiment of technical scheme of the present invention, in this embodiment, main frame and all have employed speed-sensorless control from machine, when controlling, if the synchronous speed of main frame be greater than synchronous speed amplitude limit value from the difference of the synchronous speed of machine, control carrying out from machine using the synchronous speed of main frame and synchronous speed amplitude limit value as the synchronous speed from machine, even if main frame and have error by the rotating speed estimated or record and actual rotating speed from machine, also can make main frame and keep synchronous operation well from machine, avoiding problem generations such as being at loggerheads.Actual test also proves, technical scheme of the present invention can to make from machine with main frame smooth running, reliably.
In embodiments, main frame and be rigidly connected from what adopt between the rotating shaft of machine, but also can adopt and flexibly connect, its effect is identical.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, as long as within the spirit and principles in the present invention, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a synchronous control system for multiple motors, comprise host computer control device that main frame is controlled and to control from machine from machine control device, it is characterized in that, main frame and be asynchronous motor from machine, host computer control device and adopt vector control mode to control respectively from machine control device, host computer control device and connecting between machine control device, the motor status of main frame is delivered to from machine control device by connection, from the motor status of machine control device according to main frame, when the difference of the synchronous speed from the synchronous speed of machine and main frame is greater than synchronous speed amplitude limit value, limit the synchronous speed from machine, make to keep synchronous from machine and main frame.
2. synchronous control system for multiple motors according to claim 1, it is characterized in that, when the difference of the synchronous speed from the synchronous speed of machine and main frame is greater than synchronous speed amplitude limit value, the synchronous speed of main frame is added with synchronous speed amplitude limit value, using additive value as the synchronous speed from machine, to limit the synchronous speed from machine.
3. synchronous control system for multiple motors according to claim 2, is characterized in that, synchronous speed amplitude limit value, calculates according to the electrical characteristic from machine, or precalculated rear storage in memory, calls when needing.
4. synchronous control system for multiple motors according to claim 3, is characterized in that, host computer control device and adopt Speedless sensor vector control mode to control respectively from machine control device.
5. synchronous control system for multiple motors according to claim 4, is characterized in that, host computer control device and connecting from being passed by light between machine control device.
6. synchronous control system for multiple motors according to claim 5, is characterized in that, host computer control device will comprise that motor rises/stops, motor slip ratio, and motor speed is delivered to from machine control device by light at interior motor status.
7. synchronous control system for multiple motors according to claim 6, is characterized in that, described main frame is connected with coaxial rigid between machine.
8. synchronous control system for multiple motors according to any one of claim 1 to 7, is characterized in that, described from machine be two or more.
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| DE102013208591A1 (en) * | 2013-05-10 | 2014-11-27 | Robert Bosch Gmbh | Control device for an asynchronous machine and method for operating an asynchronous machine |
| CN103501136A (en) * | 2013-10-22 | 2014-01-08 | 中国船舶重工集团公司第七一二研究所 | Multi-motor synchronous coordination control method |
| CN104300844A (en) * | 2014-11-06 | 2015-01-21 | 北京合康亿盛变频科技股份有限公司 | Multi-motor synchronization control system |
| CN105529960B (en) * | 2015-12-30 | 2018-02-23 | 武汉港迪电气传动技术有限公司 | A kind of bi-motor invariable power synchronous control system without rigid axis connection |
| CN107437905A (en) * | 2017-09-08 | 2017-12-05 | 南京钢铁股份有限公司 | Motor speed automatic synchronization control methods before and after a kind of thermal straightening machine |
| CN110932610B (en) * | 2019-12-20 | 2022-06-21 | 山东华普特电机有限公司 | Synchronous control method and system for double asynchronous motors |
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Address after: 100043 Shijingshan District City, the ancient city of Beijing, West Street, No. 19 small and medium enterprises base Patentee after: Beijing Kang Kang Xin Polytron Technologies Inc Address before: 100176 Daxing District Yizhuang Economic Development Zone, Boxing Road No. two, No. 3, No. Patentee before: Beijing Hiconics Drive Technology Co.,Ltd. |
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