CN103051255B - Soft start control method of motor - Google Patents
Soft start control method of motor Download PDFInfo
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- CN103051255B CN103051255B CN201210569604.9A CN201210569604A CN103051255B CN 103051255 B CN103051255 B CN 103051255B CN 201210569604 A CN201210569604 A CN 201210569604A CN 103051255 B CN103051255 B CN 103051255B
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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 soft start control method of motor, particularly relate to one and be used for cooperation control motor start starting current and rotating speed, adopt different decision-makings stage by stage, form the control strategy of whole starting process, realize the Dynamic Programming control method of starting process optimal control results.
Background technology
The big current (5-7 is above Rated motor electric current doubly) produced during motor across-the-line starting is huge to electrical network, the harm of electric motor and driving equipment, protective relaying maloperation can be caused to do, automatically control the faults such as malfunctioning.Use soft starter device, the harmfulness that motor across-the-line starting can be avoided to cause and impact.From energy-conservation angle, use the energy-saving effect that soft starter device gets twice the result with half the effort in addition.
Current flexible starter for electric motor both domestic and external is normal employing open-loop voltage slope control mode, closed loop current amplitude limit control mode, classification variable frequency control mode, fuzzy control, artificial neural-network control etc. generally.
Voltage ramp start mode is simple, and starting effect is easily subject to the impact of load and power source change, and control effects is accurate not, repeatedly need debug and just can reach satisfied starting effect.
Closed loop current amplitude limit control mode adds closed loop current detection; current sample is not only used for doing thyristor overcurrent protection; but also the closed-loop adjustment of electric current can be participated in; current limit start mode is less by the impact of load and power source change; and stability is greatly improved, starting effect improves than voltage ramp start mode.Current limit start mode is particularly suitable for constant torque load, by arranging upper current limit, makes motor with minimum starting current Fast starting in the occasion that net capacity is limited.
Classification variable frequency control mode is in motor starting process, makes electric voltage frequency increase to power frequency 50Hz step by step from a smaller initial value, thus torque when improving low-voltage.Due to the discrete saltus step of frequency, the instantaneous value of stator current is discontinuous, and torque instantaneous value is also discontinuous, pulses larger.In the operation of real electrical machinery, there will be obvious vibration, this is the maximum shortcoming of classification variable frequency control mode.
Fuzzy control and artificial neural-network control all belong to Based Intelligent Control.Fuzzy control technology does not rely on accurate Mathematical Modeling, insensitive to Parameters variation, strong adaptability, has good robustness, in the control of the soft start of motor, achieve good control effects.Artificial neural net considers motor and the change of regulator model parameter and the polytropy of motor load type, and dynamic characteristic is excellent, has good adaptability and robustness.
The main purpose of above-mentioned electric machine soft starting control method reduces the starting current of motor, and control objectives is single, does not consider the factor such as starting time and starting speed.But in starting process, owing to not considering the starting time, often because the starting time is long, can causes that the motor feels hot, cause the thermal relay action in major loop, starting failure.Therefore, for electric machine soft starting system, adopting the method for nonlinear Control to realize time optimal control is a kind of of great value control strategy.
For above Problems existing, 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, forms the control strategy of whole starting process, realizes the cooperation control of starting current and rotating speed, both can, by starting current amplitude limit, the starting time can be down to again minimum, improves the success rate of starting.
Applicant has consulted the patent about electric machine soft starting disclosed in 2007 to 2012 these 5 years, amount to 458 projects, these patents are all the contents in soft starter device, soft-start control circuitry, soft start and reactive power compensator etc., have no the patent relating to control of soft method.
Electric motor soft starter at restriction starting current, reduce voltage ripple of power network, carry out reactive power compensation, energy savings, improve power supply quality etc. in there is good effect.Because motor is non-linear, close coupling, time-varying system, adopt nonlinear control method to control it, optimize its control effects and there is great practical engineering value.
In view of this, be necessary to provide a kind of soft start control method of motor, to solve the problem.
Summary of the invention
Technical problem to be solved by this invention is: provide one to utilize Dynamic Programming control method to control flexible starter for electric motor, motor starting currents is made to be limited on the basis of 2 times of rated current, realize motor speed and rapidly increase to rated speed, starting time is the shortest, the motor feels hot in reduction, 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 soft start control method of motor, it is characterized in that, adopt Dynamic Programming control method, motor start starting current is limited on the basis of 2 times of rated current, realize motor speed and rapidly increase 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 the control objectives of this three phases to starting current, rotating speed respectively;
(2) detect the electric current in motor starting procedure and rotating speed in real time, according to the relation between starting current and rotating speed, determine the decision-making that three phases will be taked respectively;
(3) to the constant current raising speed stage most important in starting process, adopt meet motor starting state constraint and starting current be limited in 2 times of rated current constraints under time organizing decision-making;
(4) decision-making of three phases forms the control strategy of whole starting process, realizes a kind of motor starting procedure optimization.
Soft start control method of motor as above, is characterized in that: use Dynamic Programming control technology, realize the cooperation control of starting current and motor speed, control at the first stage adoption rate of starting process, strengthens the rapidity of starting; Second stage adopts optimal control, and under realizing meeting starting constraints, the starting time is the shortest; Three phases adoption rate integral control, eliminates the steady state error of control system.
Soft start control method of motor as above, is characterized in that: realizing the controller that Dynamic Programming control strategy adopts is DSP, and the display of motor starting state arranges employing touch-screen with controling parameters.
The present invention compared with prior art tool has the following advantages:
(1) detect and cooperation control starting current and starting speed respectively, control system affects little by power supply and load variations, and antijamming capability is strong, and control precision is high, and control effects is good.
(2) adopt Dynamic Programming control method, control stage by stage, the starting characteristic of different phase can be met, reach desirable control effects.
(3) adopt time optimal control in the second stage of starting, 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, starting current and motor speed can be observed intuitively, and facilitate change control parameter, the automaticity of whole soft start control system can be improved, alleviate the working strength of operating personnel, eliminate unnecessary manpower waste.
Accompanying drawing explanation
Fig. 1 is soft start control method of motor system construction drawing of the present invention.
Fig. 2 is the desirable starting curve of motor starting.
Embodiment
In order to understand the present invention better, illustrate content of the present invention further below in conjunction with embodiment, but content of the present invention is not only 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 claims limited range listed by the application.
In Fig. 1: 1. controller (performing 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.
In Fig. 2: curve 1 is speed curves; Curve 2 is current curve.
The invention provides a kind of soft start control method of motor, for the control method based on Dynamic Programming, namely for motor starting procedure, there is obvious timing, starting process was divided into three stages, each stage adopts different control strategies, the Trigger Angle of dynamic conditioning circuits for triggering, realizes 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, cooperation control starting current, motor speed, starting time three amount, starting current is being controlled on the basis of 2 times of rated current, realize motor speed and rapidly increase 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 the control objectives of this three phases to starting current, rotating speed respectively.
(2) detect the electric current in motor starting procedure and rotating speed in real time, according to the relation between starting current and rotating speed, determine the decision-making that three phases will be taked respectively.
(3) start the first stage started, adoption rate controls, and strengthens the rapidity of starting; Second stage adopts optimal control, and under realizing meeting starting constraints, the starting time is the shortest; Three phases adoption rate integral control, eliminates the steady state error of control system.
(4) to the constant current raising speed stage most important in starting process, i.e. second stage, adopt meet motor starting state constraint and starting current be limited in 2 times of rated current constraints under time organizing decision-making.
(5) decision-making of three phases forms the control strategy of whole starting process, realizes a kind of motor starting procedure optimization.
Realizing the controller that Dynamic Programming control strategy adopts is DSP, and the display of motor starting state arranges employing touch-screen with controling parameters.
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1: present invention employs the device comprising controller 1, scale factor adjuster 2, circuits for triggering 3, soft starter device 4, current sensing means 6, speed detector 7 composition, Dynamic Programming control mode is realized to the starting of motor 5.
Fig. 2 is the desirable starting curve of motor starting, and curve 1 is desired speed curve; Curve 2 is ideal current curve.
The desirable starting curve of motor starting according to Fig. 2, can find that motor starting procedure has obvious sequential character, three phases can be divided into according to the starting time, I start-up period is electric current ascent stage, in this stage after current of electric is greater than load current, motor starts to start, and electric current rapidly increases to
i m; The II stage is the constant current raising speed stage, and electric current remains on
i m, rotating speed linearly increases, 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 declines, and when electric current drops to load current, rotating speed reaches peak value, and motor slows down under load resistance effect subsequently, until stable state.
This three phases of motor starting, feature all clearly: first stage, rotating speed is very little, and curent change is very fast; Second stage, electric current maintains
i m, rotating speed linear growth; Three phases, electric current declines, and overshoot appears in rotating speed.According to the feature of this three phases, specify the control objectives in each stage: first stage controls electric current, control electric current and reach fast
i m; Electric current maintains by second stage
i mand the state equation of motor is as constraints, rotating speed rises to rated speed as initial and terminal condition by initial condition, seeks to meet target function---the control strategy that the starting time is the shortest; Three phases electric current declines, and rotating speed has overshoot, and control speed overshoot as far as possible little, rotating speed maintains rated speed.After specifying the control objectives in each stage, for realizing control objectives, adopt different control decisions: the control decision of first stage adoption rate; Second stage adopts time optimal control decision-making; The decision-making of three phases adoption rate integral control.The sequence of decisions of this three phases forms the control strategy of whole starting process, motor starting currents is made to be limited on the basis of 2 times of rated current, realize motor speed and rapidly increase 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 starting current and motor speed intuitively, and facilitate change control parameter, can improve the automaticity of whole soft start control system.
It is long that the present invention can overcome the traditional soft start mode starting time, easily causes the shortcoming of starting failure, has that the starting time is short, starting current is little, the most excellent feature of starting curve, is suitable for the soft start of different capabilities motor.
The content be not described in detail in this specification belongs to the known prior art of professional and technical personnel in the field.
Claims (2)
1. a soft start control method of motor, is characterized in that, adopt Dynamic Programming control method, be limited in by motor start starting current on the basis of 2 times of rated current, realize motor speed and rapidly increase to rated speed, 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 the control objectives of this three phases to starting current, rotating speed respectively;
(2) detect the electric current in motor starting procedure and rotating speed in real time, according to the relation between starting current and rotating speed, determine the decision-making that three phases will be taked respectively;
(3) to the constant current raising speed stage most important in starting process, adopt meet motor starting state constraint and starting current be limited in 2 times of rated current constraints under time organizing decision-making;
(4) decision-making of three phases forms the control strategy of whole starting process, realizes a kind of motor starting procedure optimization;
Use Dynamic Programming control method, realize the cooperation control of starting current and motor speed, control at the first stage adoption rate of starting process, strengthen the rapidity of starting; Second stage adopts optimal control, and under realizing meeting starting constraints, the starting time is the shortest; Three phases adoption rate integral control, eliminates the steady state error of control system.
2. soft start control method of motor according to claim 1, is characterized in that: realizing the controller that Dynamic Programming control strategy adopts is DSP, and the display of motor starting state arranges employing touch-screen with controling parameters.
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| CN201210569604.9A CN103051255B (en) | 2012-12-25 | 2012-12-25 | Soft start control method of motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108418487B (en) * | 2018-02-11 | 2020-12-11 | 东南大学 | Speed pulsation suppression method for electric automobile |
| CN111431446B (en) * | 2019-01-08 | 2022-02-01 | 台达电子工业股份有限公司 | Motor control method and device |
| JP7224204B2 (en) * | 2019-02-26 | 2023-02-17 | ローム株式会社 | Stepping motor drive circuit, electronic equipment using it |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW483227B (en) * | 2000-04-24 | 2002-04-11 | Know Entpr Co Ltd U | Soft start device of three phase induction motor |
| 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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| JP4263582B2 (en) * | 2003-11-17 | 2009-05-13 | 本田技研工業株式会社 | Brushless motor control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW483227B (en) * | 2000-04-24 | 2002-04-11 | Know Entpr Co Ltd U | Soft start device of three phase induction motor |
| 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 |
Non-Patent Citations (3)
| Title |
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| JP特开2005-151714A 2005.06.09 * |
| 变负载直流电机双闭环调速系统非线性建模研究";李瑞峰;《中国优秀硕士论文电子期刊网》;20110315;第34页 * |
| 感应电动机运动优化控制的研究;洪绍云;《中国优秀硕士论文电子期刊网》;20090215;第26-27页 * |
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