CN103051255A - Soft start control method of motor - Google Patents
Soft start control method of motor Download PDFInfo
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- CN103051255A CN103051255A CN2012105696049A CN201210569604A CN103051255A CN 103051255 A CN103051255 A CN 103051255A CN 2012105696049 A CN2012105696049 A CN 2012105696049A CN 201210569604 A CN201210569604 A CN 201210569604A CN 103051255 A CN103051255 A CN 103051255A
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Abstract
The invention provides a soft start control method of a motor, which is a control method based on dynamic programming. Aiming at that a motor starting process has an obvious time sequence, a starting process is divided into three phases; and each phase adopts different control strategies to dynamically adjust a triggering angle of a triggering circuit, so as to realize the optimization of the starting process. In a soft start process, current and a rotary speed of the motor are detected; three quantities including starting current, the rotary speed of the motor and starting time are cooperatively controlled according to an ideal starting property of the motor; and the starting current is controlled on the basis of two times of rated current so that the rotary speed of the motor is rapidly accelerated to the rated rotary speed and the starting time is the shortest. According to the soft start control method of the motor disclosed by the invention, the defects of a traditional soft start process that the starting time is long and starting failure is easy to cause can be overcome; and the soft start control method has the characteristics of short starting time, small starting current, optimal starting curve and the like, and is suitable for soft start of motors with the different capacities.
Description
Technical field
The present invention relates to a kind of flexible starter for electric motor control method, particularly relate to a kind of be used for coordinating control motor starting electric current and rotating speed, adopt stage by stage different decision-makings, consist of the control strategy of whole starting process, realize the Dynamic Programming control method of starting process optimal control results.
Background technology
The large electric current that produces during the motor across-the-line starting (5-7 is above motor rated current doubly) is huge to electrical network, the harm of electric motor and driving equipment, can cause protective relaying maloperation to make, automatically control the faults such as malfunctioning.Use soft starter device, harmfulness and the impact that can avoid the motor across-the-line starting to cause.From energy-conservation angle, the energy-saving effect that uses soft starter device to get twice the result with half the effort in addition.
The general normal employing open-loop voltage of present flexible starter for electric motor both domestic and external slope control mode, closed loop current amplitude limit control mode, classification variable frequency control mode, fuzzy control, artificial neural net control etc.
The voltage ramp start mode is simple, and starting effect is subjected to the impact of load and power source change easily, and the control effect is accurate not, and needing repeatedly, debugging just can reach satisfied starting effect.
Closed loop current amplitude limit control mode has increased the closed loop current detection; current sample not only is used for doing the thyristor overcurrent protection; but also can participate in the closed-loop adjustment of electric current; the current limit start mode is subjected to the impact of load and power source change less; and stability is greatly improved, and starting effect has improved than voltage ramp start mode.The current limit start mode is particularly suitable for constant torque load, by upper current limit is set, makes motor with the starting current Fast starting of minimum in the limited occasion of net capacity.
Classification variable frequency control mode is in motor starting process, makes electric voltage frequency increase to step by step power frequency 50Hz from a smaller initial value, thus the torque when improving low-voltage.Because the discrete saltus step of frequency, the instantaneous value of stator current is discontinuous, and the torque instantaneous value is also discontinuous, and it is larger to pulse.Significantly vibration can occur the in service of real electrical machinery, this is the shortcoming of classification variable frequency control mode maximum.
Fuzzy control and artificial neural net control all belong to Based Intelligent Control.Fuzzy control technology does not rely on accurate Mathematical Modeling, parameter is changed insensitive, and strong adaptability has good robustness, is obtaining good control effect aspect the control of the soft start of motor.Artificial neural net is considered motor and the variation of regulator model parameter and the polytropy of motor load type, and dynamic characteristic is good, has preferably adaptability and robustness.
The main purpose of said motor control of soft method is to reduce the starting current of motor, and the control target is single, does not consider the factors such as starting time and starting speed.Yet in starting process, owing to do not consider the starting time, often can cause that the motor feels hot because the starting time is long, cause the thermal relay action in the major loop, starting failure.Therefore, for the electric machine soft starting system, adopt the method for nonlinear Control to realize that time optimal control is a kind of of great value control strategy.
Problem for above existence, a kind of motor Dynamic Programming control of soft method is a good solution, the different phase of the method in motor starting process adopts different decision-makings, adopts time optimal control in the constant current raising speed stage that starting process is the longest.The decision-making of different phase consists of the control strategy of whole starting process, realizes the coordination control of starting current and rotating speed, both the starting current amplitude limit can be down to minimum with the starting time again, improves the success rate of starting.
Applicant has been consulted 2007 to 2012 these 5 years disclosed patents about electric machine soft starting, amount to 458 projects, these patents all are about the content of the aspects such as soft starter device, control of soft circuit, soft start and reactive power compensator, have no the patent that relates to the control of soft method.
Electric motor soft starter at the restriction starting current, reduce voltage ripple of power network, carry out reactive power compensation, energy savings, improve the aspect such as power supply quality and have good effect.Because motor is non-linear, close coupling, time-varying system, adopt nonlinear control method that it is controlled, optimize its control effect and have great engineering practice meaning.
In view of this, be necessary to provide a kind of flexible starter for electric motor control method, to address the above problem.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of Dynamic Programming control method of utilizing to control flexible starter for electric motor, make the electric motor starting current limit on the basis of 2 times of rated current, realize that motor speed rapidly increases to rated speed, starting time is the shortest, reduce that the motor feels hot, improve the success rate of soft start, and improve the production efficiency of industrial enterprise.
The technical solution adopted in the present invention is: a kind of flexible starter for electric motor control method, it is characterized in that, adopt the Dynamic Programming control method, with the motor starting current limit on the basis of 2 times of rated current, realize that motor speed rapidly increases to rated speed, starting time is the shortest, and concrete grammar is:
(1) according to the desirable starting characteristic of motor, starting process is divided into three phases, establishes respectively this three phases to the control target of starting current, rotating speed;
(2) detect in real time electric current and rotating speed in the motor starting procedure, according to the relation between starting current and the rotating speed, determine the decision-making that three phases will be taked respectively;
(3) to the most important constant current raising speed stage in the starting process, the motor starting state constraint is satisfied in employing and starting current is limited in 2 times of shortest time control decisions under the rated current constraints;
(4) decision-making of three phases consists of the control strategy of whole starting process, realizes a kind of motor starting procedure optimization.
Aforesaid flexible starter for electric motor control method is characterized in that: use the Dynamic Programming control technology, realize the coordination control of starting current and motor speed, in the first stage adoption rate control of starting process, strengthen the rapidity of starting; Second stage adopts optimal control, realizes satisfying under the starting constraints, and the starting time is the shortest; Three phases adoption rate integral control, the steady state error of elimination control system.
Aforesaid flexible starter for electric motor control method is characterized in that: realize that the controller that the Dynamic Programming control strategy adopts is DSP, the motor starting state shows and the control parameter arranges the employing touch-screen.
The present invention compared with prior art has following advantage:
(1) respectively starting current and starting speed are detected and coordinate control, it is little that control system is affected by power supply and load variations, and antijamming capability is strong, and control precision is high, controls effective.
(2) adopt the Dynamic Programming control method, control stage by stage, can satisfy the starting characteristic of different phase, reach desirable control effect.
(3) second stage in starting adopts time optimal control, can reduce that the motor feels hot and improve the production efficiency of industrial enterprise.
(4) whole control method is simple, functional reliability is high, adopt DPS as controller, human-computer interaction interface adopts touch-screen, can observe intuitively starting current and motor speed, and make things convenient for the change control parameter, can improve the automaticity of whole soft start control system, alleviate operating personnel's working strength, exempted unnecessary manpower waste.
Description of drawings
Fig. 1 is flexible starter for electric motor control method system construction drawing of the present invention.
Fig. 2 is the desirable starting curve of motor starting.
Embodiment
In order to understand better the present invention, further illustrate content of the present invention below in conjunction with embodiment, but content of the present invention not only is confined to the following examples.Those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values are equally within the listed claims limited range of the application.
Among Fig. 1: 1. controller (carry out Dynamic Programming control strategy); 2. scale factor adjuster; 3. circuits for triggering; 4. soft starter device; 5. motor; 6. current sensing means; 7. speed detector.
Among Fig. 2: curve 1 is speed curves; Curve 2 is current curve.
The invention provides a kind of flexible starter for electric motor control method, be the control method based on Dynamic Programming, namely has obvious timing for motor starting procedure, starting process was divided into for three stages, each stage is adopted different control strategies, dynamically adjust the Trigger Angle of circuits for triggering, realize the optimization of starting process.In Soft Start-up Process, by detecting motor current and rotating speed, according to the desirable starting characteristic of motor, coordinate control starting current, motor speed, starting time three amounts, starting current is being controlled on the basis of 2 times of rated current, realize that motor speed rapidly increases to rated speed, the starting time is the shortest.Specific as follows:
(1) according to the desirable starting characteristic of motor, starting process is divided into three phases, establishes respectively this three phases to the control target of starting current, rotating speed.
(2) detect in real time electric current and rotating speed in the motor starting procedure, according to the relation between starting current and the rotating speed, determine the decision-making that three phases will be taked respectively.
(3) at the first stage of starting beginning, adoption rate control strengthens the rapidity of starting; Second stage adopts optimal control, realizes satisfying under the starting constraints, and the starting time is the shortest; Three phases adoption rate integral control, the steady state error of elimination control system.
(4) to the most important constant current raising speed stage in the starting process, i.e. second stage adopts and satisfies the motor starting state constraint and starting current is limited in 2 times of shortest time control decisions under the rated current constraints.
(5) decision-making of three phases consists of the control strategy of whole starting process, realizes a kind of motor starting procedure optimization.
Realize that the controller that the Dynamic Programming control strategy adopts is DSP, the motor starting state shows and the control parameter arranges the employing touch-screen.
The invention will be further described below in conjunction with accompanying drawing:
As shown in Figure 1: the present invention has adopted the device that comprises that controller 1, scale factor adjuster 2, circuits for triggering 3, soft starter device 4, current sensing means 6, speed detector 7 form, to the starting realization Dynamic Programming control mode of motor 5.
Fig. 2 is the desirable starting curve of motor starting, and curve 1 is the desired speed curve; Curve 2 is the ideal current curve.
According to the desirable starting curve of motor starting shown in Figure 2, can find that motor starting procedure has obvious sequential character, can be divided into three phases according to the starting time, the I start-up period is the Current rise stage, this stage after current of electric is greater than load current, motor begins starting, and electric current rapidly increases to
I mThe II stage is the constant current raising speed stage, and electric current remains on
I m, rotating speed is linear growth, until rotating speed reaches rated speed
n N, this stage is the Main Stage of starting, and the time is the longest; The III stage is the rotational speed regulation stage, and overshoot appears in rotating speed, and electric current descends, and when electric current dropped to load current, rotating speed reached peak value, and motor slows down under the load resistance effect subsequently, until stable state.
This three phases of motor starting, feature are all very obvious: first stage, and rotating speed is very little, and curent change is very fast; Second stage, electric current maintains
I m, the rotating speed linear growth; Three phases, electric current descends, and overshoot appears in rotating speed.According to the feature of this three phases, the control target in clear and definite each stage: first stage is controlled electric current, and the control electric current reaches fast
I mSecond stage maintains electric current
I mAnd the state equation of motor is as constraints, and rotating speed rises to rated speed as initial and terminal condition by initial condition, seeks to satisfy target function---the control strategy that the starting time is the shortest; The three phases electric current descends, and rotating speed has overshoot, and the control speed overshoot is as far as possible little, and rotating speed maintains rated speed.After the control target of clear and definite stages, for realizing the control target, adopt different control decisions: the control decision of first stage adoption rate; Second stage adopts the time optimal control decision-making; The decision-making of three phases adoption rate integral control.The sequence of decisions of this three phases consists of the control strategy of whole starting process, make the electric motor starting current limit on the basis of 2 times of rated current, realize that motor speed rapidly increases to rated speed, starting time is the shortest, reduce electric motor overheating, improve the success rate of soft start, and improve the production efficiency of industrial enterprise.
The present invention adopts DPS as controller, and human-computer interaction interface adopts touch-screen, can observe intuitively starting current and motor speed, and make things convenient for the change control parameter, can improve the automaticity of whole soft start control system.
It is long that the present invention can overcome the conventional softer start mode starting time, causes easily the shortcoming of starting failure, have the starting time short, starting current is little, the most excellent characteristics of starting curve, is suitable for the soft start of different capabilities motor.
The content that is not described in detail in this specification belongs to the known prior art of this area professional and technical personnel.
Claims (3)
1. a flexible starter for electric motor control method is characterized in that, adopts the Dynamic Programming control method, and the motor starting current limit on the basis of 2 times of rated current, is realized that motor speed rapidly increases to rated speed, and the starting time is the shortest, and concrete grammar is:
(1) according to the desirable starting characteristic of motor, starting process is divided into three phases, establishes respectively this three phases to the control target of starting current, rotating speed;
(2) detect in real time electric current and rotating speed in the motor starting procedure, according to the relation between starting current and the rotating speed, determine the decision-making that three phases will be taked respectively;
(3) to the most important constant current raising speed stage in the starting process, the motor starting state constraint is satisfied in employing and starting current is limited in 2 times of shortest time control decisions under the rated current constraints;
(4) decision-making of three phases consists of the control strategy of whole starting process, realizes a kind of motor starting procedure optimization.
2. flexible starter for electric motor control method according to claim 1, it is characterized in that: use the Dynamic Programming control technology, realize the coordination control of starting current and motor speed, in the first stage adoption rate control of starting process, strengthen the rapidity of starting; Second stage adopts optimal control, realizes satisfying under the starting constraints, and the starting time is the shortest; Three phases adoption rate integral control, the steady state error of elimination control system.
3. flexible starter for electric motor control method according to claim 1 is characterized in that: realize that the controller that the Dynamic Programming control strategy adopts is DSP, the motor starting state shows with the control parameter employing touch-screen is set.
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| CN201210569604.9A CN103051255B (en) | 2012-12-25 | 2012-12-25 | Soft start control method of motor |
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| CN201210569604.9A CN103051255B (en) | 2012-12-25 | 2012-12-25 | Soft start control method of motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418487A (en) * | 2018-02-11 | 2018-08-17 | 东南大学 | A kind of velocity fluctuation suppressing method for electric vehicle |
| CN111431446A (en) * | 2019-01-08 | 2020-07-17 | 台达电子工业股份有限公司 | Motor control method and device |
| CN111614290A (en) * | 2019-02-26 | 2020-09-01 | 罗姆股份有限公司 | Drive circuit of stepping motor, drive method thereof, and electronic apparatus using the same |
| CN115694281A (en) * | 2022-09-28 | 2023-02-03 | 陕西航空电气有限责任公司 | Soft start and soft release control method for aviation three-level motor |
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| TW483227B (en) * | 2000-04-24 | 2002-04-11 | Know Entpr Co Ltd U | Soft start device of three phase induction motor |
| JP2005151714A (en) * | 2003-11-17 | 2005-06-09 | Honda Motor Co Ltd | Brushless motor controller |
| CN1889354A (en) * | 2006-07-26 | 2007-01-03 | 辽宁荣信电力电子股份有限公司 | Wave hopping stage variable frequency stepless voltage regulating electric machine soft starting method |
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| TW483227B (en) * | 2000-04-24 | 2002-04-11 | Know Entpr Co Ltd U | Soft start device of three phase induction motor |
| JP2005151714A (en) * | 2003-11-17 | 2005-06-09 | Honda Motor Co Ltd | Brushless motor controller |
| CN1889354A (en) * | 2006-07-26 | 2007-01-03 | 辽宁荣信电力电子股份有限公司 | Wave hopping stage variable frequency stepless voltage regulating electric machine soft starting method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108418487A (en) * | 2018-02-11 | 2018-08-17 | 东南大学 | A kind of velocity fluctuation suppressing method for electric vehicle |
| CN108418487B (en) * | 2018-02-11 | 2020-12-11 | 东南大学 | Speed pulsation suppression method for electric automobile |
| CN111431446A (en) * | 2019-01-08 | 2020-07-17 | 台达电子工业股份有限公司 | Motor control method and device |
| CN111614290A (en) * | 2019-02-26 | 2020-09-01 | 罗姆股份有限公司 | Drive circuit of stepping motor, drive method thereof, and electronic apparatus using the same |
| CN111614290B (en) * | 2019-02-26 | 2023-11-03 | 罗姆股份有限公司 | Driving circuit of stepping motor, driving method thereof and electronic machine using same |
| CN115694281A (en) * | 2022-09-28 | 2023-02-03 | 陕西航空电气有限责任公司 | Soft start and soft release control method for aviation three-level motor |
| CN115694281B (en) * | 2022-09-28 | 2024-05-31 | 陕西航空电气有限责任公司 | Aviation three-stage motor soft start and soft release control method |
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