CN103633896A - Rare earth permanent-magnet moment motor flexible reverse braking control method - Google Patents
Rare earth permanent-magnet moment motor flexible reverse braking control method Download PDFInfo
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- CN103633896A CN103633896A CN201310482682.XA CN201310482682A CN103633896A CN 103633896 A CN103633896 A CN 103633896A CN 201310482682 A CN201310482682 A CN 201310482682A CN 103633896 A CN103633896 A CN 103633896A
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Abstract
The invention relates to a flexible reverse rotation braking control method, which is used for reverse rotation braking control on a rare earth permanent-magnet moment motor. A control mode of combining the renewable energy source braking PWM (pulse-width modulation) control, the speed closed-loop regulation and the DAC (digital-to-analog converter) current limitation is adopted, so the flexible reverse rotation speed braking control on the rare earth permanent-magnet moment motor is realized. A driving control system is utilized for the braking control, the deformation potential energy of a driving carrier, i.e., a screw rod is fed back to the direct current capacitance group part of the driving control system, and then, the energy is released through an external braking resistor. When the initial moment of the reverse rotation of the motor is detected, in order to prevent the occurrence of conditions of too high reverse rotation speed of the motor or rotation speed overshooting, the offset Dacoutinivalue is added during the DAC initialization; the motor can reversely rotate to recover the stable state in a low-speed controllable state, and the reliability and the safety of the motor are further improved.
Description
Technical field:
This invention is about rare earth permanent magnet torque motor flexibility plugging control method.Concrete is that this invention is to control for realizing the flexibility reverse rotating brake of rare earth permanent magnet torque motor, under low speed controllable state, return to stable, thereby the protection person and device security.
Background technology:
When oil-extracting screw pump is shut down or is broken down; because the screw rod deformation potential of down-hole can drag the rare earth permanent magnet torque motor reversion of surface drive; if do not added control; the speed reversal of motor can be very fast; effect due to screw rod rotary centrifugal force; the rare earth permanent magnet torque motor upper end fixed electrical machinery axle of surface drive and as easy as rolling off a log the flying out of clamp of oil recovery bar, greatly endanger field operation personnel's life and device security.Therefore need in the case to control speed reversal.Main employing is two kinds of modes of braking now.The one, dynamic braking mode adds the brake resistance of wye connection, by the deformation potential loss of screw rod between the triple line of motor.The 2nd, adopt mechanical electric magnetic-type band-type brake system, the process of adopt locking, unclamping is carried out the energy that discharges gradually.
Adopt above-mentioned two kinds of modes of braking, the reversion speed of motor can not accurately be controlled, and in deformation potential dispose procedure, there will be the situation of a little stopping.For accurately controlling reversion speed, make motor can realize reversion under low speed controllable state so that return to stable state, further promote reliability, the fail safe of this device, this patent proposes a kind of flexibility reverse rotating brake control method of rare earth permanent magnet torque motor, adopts that renewable energy resources brakings is controlled, speed positive feedback PI closed-loop adjustment and DAC Current limited Control combine control mode.
Summary of the invention:
Renewable energy resources braking, utilizes the structure of frequency converter to brake control, and screw rod deformation potential is fed back to frequency converter DC capacitor group part, then by external brake resistance, this energy is discharged.Negotiation speed controlling of sampling, speed closed loop regulate and control, DAC current limliting regulates and controls, brakes driver output control, voltage detecting and overvoltage Generation Control, realize the flexibility reverse rotating brake of rare earth permanent magnet torque motor and control.
Accompanying drawing explanation:
Fig. 1 is that schematic diagram is controlled in rare earth permanent magnet torque motor flexibility reversion.
Fig. 2 is position sensor signal and back electromotive force graph of a relation.
Fig. 3 is afterflow stage current direction schematic diagram.
Fig. 4 is current feedback stage current direction schematic diagram.
Fig. 5 is that renewable energy resources braking procedure power tube is controlled chart.
Fig. 6 is DAC Current limited Control schematic diagram.
Embodiment:
Oil-extracting screw pump device is when shutting down or breaking down, and the reduction of speed that motor can be gradually there will be reversal development after rotating speed reduces to 0.Wherein speed sampling is to carry out speed detection conversion by being arranged on 3 hall sensors of motor internal.These 3 Hall elements can produce 6 60 square-wave signals of spending as shown in Figure 2 within the electric cycle of one 360 degree, by measuring the time value of 60 degree square-wave signals, can calculate current tachometer value.The direction of rotation of motor is also that the signal producing by these 3 Hall elements carries out identification, by I/O query function, regularly inquire about the state of I/O, by the variation of I/O state, judge whether motor has reversed, if the variation of position signalling is to change according to the I/O state encoding of forward, think motor forward, otherwise be reversion.After reversing, according to actual instructions for use, need control the speed of reversion.
By the control strategy figure shown in Fig. 1, the control method that adopts is similar pair of closed-loop regulating system, and control and traditional negative feedback closed loop system have difference herein, and the PI regulating error of feedback element is input as n
err=n
fb-n
ref, the value of feedback that the effect of its adjusting is rotating speed is larger, the output U that PI regulates
outlarger.The calculating that PI herein regulates adopts digitized processing, the integral that method is increment type.At the initial time that motor reversion detected, for preventing that the situation of motor reversal excessive velocities from occurring, and need to add a side-play amount Dac when the initialization of DAC
inivalue; Make the motor can be slowly from low speed dynamic adjustments to stable state.If do not add Dac
inivalueside-play amount, can calculate and know n from the error of PI
err=n
fb-n
ref, only have rotating speed to surpass after set point, just there is Dac
outoutput, may cause motor to have an overshoot process from high speed to low speed like this.
After the renewable energy resources braking of motor is controlled and is exactly motor reversal, in generating state, by controlling IGBT pipe and fly-wheel diode in frequency converter, contrary when the sense of current is moved with forward, the torque that just can produce braking character, motor works in regenerative braking pattern.When the voltage producing is during higher than capacitor of frequency converter group terminal voltage, can, by current feedback to capacitance group, reach the object of energy feedback.In the process control of whole renewable energy resources braking, its operation principle can play the effect identical with Boost converter, has the effect of boosting, on controlling mainly through 2 stages, the one, afterflow stage, the 2nd, current feedback stage.In afterflow, control the stage, control mode adopts turn-offs the power tube of upper brachium pontis, the break-make of the power tube of lower brachium pontis is carried out regular PWM control according to position sensor signal, similar with the course of work of Boost converter, in 1 PWM switch periods, the energy feedback control procedure of rare earth permanent magnet torque motor also can be divided into above-mentioned two stages.Its concrete operation principle is: one be the afterflow stage as shown in Figure 3, suppose that motor first 60 degree interval in control is analyzed and obtained result.In this interval, as shown in Figure 2, E
akeep forward maximum, E
bkeep oppositely maximum, and E
cin forward, arrive reverse transition region, the phase current i of three phase windings
a<0, as i
b>0, i
c>0.I
aequate with feedback size of current.When the switching tube of lower brachium pontis is opened, generator windings back electromotive force carries out conducting by IGBT pipe VT2 and fly-wheel diode VD4, the VD6 loop of lower brachium pontis.This kind is controlled at after full release of deformation potential that occurs screw rod, back electromotive force E
a, E
b, E
calso can be 0, braking moment now can be also 0, the moment that there will not be motor to be rotated in the forward.The 2nd, the current feedback stage, when the IGBT of brachium pontis pipe turn-offs instantly, electric current charged to electric capacity by the fly-wheel diode of upper and lower bridge arm as shown in Figure 4.The ON time of IGBT is now mainly to carry out Current limited Control by DAC output.Motor adopts regenerative braking process power management and control tabulation as shown in Figure 5 at the control strategy of other angular interval.
Velocity error regulates and calculates after output through PI, carry out scalarization processing, control herein and need to set scalarization object, think that the maximum of PI regulation output (carrying out upper and lower amplitude limiting processing) corresponds to the maximum of electric current output, in the size that can set this value for reality.Dac
outthe effect of current limliting output is that the conducting that compares rear control IGBT with actual current of electric sampled value realizes the stable of rotating speed.In actual PWM controls, the duty ratio of PWM is made as to 100%, at each PWM, in the cycle, carry out the relatively adjusting of a DAC, by the mode of hardware, the switch of IGBT is controlled.Its concrete control strategy as shown in Figure 6, at Dac
outwhen output reaches stable state, the current limit of motor is upper and lower in the value of setting, when motor current signal being detected, be greater than Dac
outduring value, comparator output low level, rest-set flip-flop output high level, the output of blocking PWM, now current of electric reduces, when electric current is reduced to Dac
outduring value, at a PWM, in the cycle, by outside control signal, to rest-set flip-flop, send a reset signal, PWM enables output, makes the current stabilization of motor at Dac
outvalue is fluctuation up and down, and the formation cycle is the zigzag current waveform in PWM cycle, and it has mean value is Dac
outvalue, thus reach the object of stabilized (steady-state) speed.
At current feedback during the stage, the electric current of feedback can make the voltage at electric capacity two ends raise, this energy must be discharged, in frequency converter, there is DC bus-bar voltage to detect (generating positive and negative voltage of capacitance group) and charge/discharge control circuit, when the voltage detecting is during higher than set point, by external braking high-power resistance, this energy is bled off, make the DC bus-bar voltage of frequency converter in safe range.
The scheme that the present invention proposes is mainly at present on rare earth permanent magnet torque motor, utilizes above-mentioned principle can carry out promotion and application more widely.
Claims (6)
1. a flexibility reverse rotating brake control method is controlled for the passive reverse rotating brake of rare earth permanent magnet torque motor.Adopt that renewable energy resources braking is controlled, speed positive feedback PI closed-loop adjustment and DAC Current limited Control combine control mode, thereby the flexibility reverse rotating brake of realizing rare earth permanent magnet torque motor is controlled.By utilizing driving control system to brake control, by driving carrier, be the DC capacitor group part that screw rod deformation potential feeds back to driving control system, then by external brake resistance, this energy is discharged.At the initial time that motor reversion detected, for preventing motor reversal excessive velocities or occurring that the situation of overshoot occurs, and adds a side-play amount Dacout when the initialization of DAC
inivalue; Make motor can realize reversion under low speed controllable state so that return to stable state.
2. according to claim 1, it is characterized in that: adopt the renewable energy resources to brake and control the self structure of utilizing frequency converter, by controlling, the upper bridge complete shut-down of IGBT is disconnected, lower bridge is realized the feedback of the energy according to the conduction mode of position signalling PWM control and fly-wheel diode.
3. according to claim 1, it is characterized in that: the closed-loop adjustment mode adopting is rotating speed positive feedback, and the rotating speed of motor is higher, and the electric current of braking is larger, motor speed is 0 o'clock, and the braking moment of output is also 0.
4. it is characterized in that according to claim 1: the size of stalling current is by the regulation output of DAC.
5. according to claim 1, it is characterized in that: at the initial time that motor reversion detected, for preventing motor reversal excessive velocities or occurring that the situation of overshoot occurs, and adds a side-play amount Dacout when the initialization of DAC
inivalue; Make motor can realize reversion under low speed controllable state so that return to stabilization of speed state.
6. according to claim 1, it is characterized in that: by utilizing driving control system to brake control, by driving carrier, be the DC capacitor group part that screw rod deformation potential feeds back to driving control system, then by external brake resistance, this energy discharged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310482682.XA CN103633896A (en) | 2013-10-09 | 2013-10-09 | Rare earth permanent-magnet moment motor flexible reverse braking control method |
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| CN201310482682.XA CN103633896A (en) | 2013-10-09 | 2013-10-09 | Rare earth permanent-magnet moment motor flexible reverse braking control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459256A (en) * | 2017-02-20 | 2018-08-28 | 常州星宇车灯股份有限公司 | A kind of vision detection system and detection method of LED car lamp lens module |
| CN112398416A (en) * | 2020-09-29 | 2021-02-23 | 北京空间飞行器总体设计部 | Reverse-drive braking control method and system for spacecraft rope wheel mechanism |
| CN113285646A (en) * | 2021-06-17 | 2021-08-20 | 赵炫弟 | Driver brake control method without using external brake unit |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201928227U (en) * | 2011-04-09 | 2011-08-10 | 大庆东达节能技术开发服务有限公司 | Reverse rotation suppression device of motor direct-drive screw pump |
| CN201928226U (en) * | 2011-04-09 | 2011-08-10 | 大庆东达节能技术开发服务有限公司 | Screw pump motor direct-driving device embedded in motor reverse rotation suppression unit |
| CN202503467U (en) * | 2012-04-27 | 2012-10-24 | 大庆永磁电机制造有限公司 | Reverse rotation preventing brake for AC permanent-magnet screw pump direct-drive motor |
-
2013
- 2013-10-09 CN CN201310482682.XA patent/CN103633896A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201928227U (en) * | 2011-04-09 | 2011-08-10 | 大庆东达节能技术开发服务有限公司 | Reverse rotation suppression device of motor direct-drive screw pump |
| CN201928226U (en) * | 2011-04-09 | 2011-08-10 | 大庆东达节能技术开发服务有限公司 | Screw pump motor direct-driving device embedded in motor reverse rotation suppression unit |
| CN202503467U (en) * | 2012-04-27 | 2012-10-24 | 大庆永磁电机制造有限公司 | Reverse rotation preventing brake for AC permanent-magnet screw pump direct-drive motor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459256A (en) * | 2017-02-20 | 2018-08-28 | 常州星宇车灯股份有限公司 | A kind of vision detection system and detection method of LED car lamp lens module |
| CN112398416A (en) * | 2020-09-29 | 2021-02-23 | 北京空间飞行器总体设计部 | Reverse-drive braking control method and system for spacecraft rope wheel mechanism |
| CN113285646A (en) * | 2021-06-17 | 2021-08-20 | 赵炫弟 | Driver brake control method without using external brake unit |
| CN113285646B (en) * | 2021-06-17 | 2022-09-06 | 赵炫弟 | Driver brake control method without using external brake unit |
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Application publication date: 20140312 |