CN103633910A - Voltage space vector control device and control method for soft start - Google Patents
Voltage space vector control device and control method for soft start Download PDFInfo
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Abstract
The invention relates to a voltage space vector control device and a voltage space vector control method for soft start. At present, a soft start technology has the problems of high starting current and low starting torque, and frequency converter soft start has the shortcoming of difficulty in the implementation of power frequency switching. A three-phase alternating current power supply is used for supplying power, six electric GTOs (gate-turn-off thyristors) can be reversely connected in parallel, an IGBT (insulated gate bipolar transistor) is adopted for a continuous current circuit, a voltage space vector control circuit is formed under the control of a microcontroller, and a current transformer is used for transmitting a three-phase current signal to the microcontroller for current limiting start and current monitoring. The phases A, B and C of the power supply of a three-phase alternating current asynchronous motor are subjected to alternating current voltage regulation and frequency modulation control under the control of the microcontroller, a voltage space vector control strategy is used for realizing hexagonal flux linkage track control over the alternating current motor, the voltage/frequency ratio is relatively stable, and the stability of main magnetic flux of the motor is ensured.
Description
Technical field
Patent of the present invention relates to a kind of space vector of voltage control device and control method thereof for soft start.
Background technology
At present, common soft starter mainly adopts three-phase thyristor reduced voltage starting, and it adopts every antiparallel two thyristors or bidirectional thyristor of being connected in series mutually on circuit structure, by changing the ON time of every phase voltage, realizes reduced voltage starting.Common three-phase thyristor soft-start by lowering voltage device, by controlling successively the triggering moment of six electric power gate level turn-off thyristor GTO, becomes three-phase main-frequency ac power waveform into dash area in Fig. 3, when changing voltage, can not change supply frequency.There are two significant drawbacks in the method.One, starting torque is little, three-phase AC asynchronous motor starting torque be proportional to starting voltage square, when lower voltage, square multiple that torque reduces with starting voltage reduces; Its two, can not change the rotating speed of stator field, starting slip is excessive; When motor has just started, rotor speed is lower, and the stator field of three-phase thyristor reduced voltage starting is to rotate with synchronous speed, the rotor very low with respect to rotating speed, and slip is very large, causes electric motor starting power factor low, and electric current is large, and torque is little, cannot realize loaded starting.
Frequency converter also has and is used as soft starter, although effect is better, frequency converter belongs to AC-DC-AC structure technically.First it carry out three phase worker power the uncontrollable rectification of three-phase bridge, then the direct voltage of rectification output carried out to filtering, finally adopts all adjustable controlled alternating currents of pulse width modulation (PWM) technology export electric voltage frequency.Frequency changer, technical sophistication, cost is higher, is not easy to penetration and promotion, has the current break phenomenon while switching simultaneously, is difficult to so far solve the switching problem that is converted to power frequency.
To sum up, Start Technology exists the problem that starting current is large, detent torque is low at present, and frequency converter soft start has the power frequency of existing to switch the deficiency that is difficult to realization.
Summary of the invention
The object of the present invention is to provide a kind of space vector of voltage control device and control method thereof for soft start, the present invention adopts space vector of voltage control algolithm in regulating power source voltage, has also regulated the frequency of power supply; And make voltage/frequency ratio relatively stable, guarantee that motor main flux is stable, when obtaining larger starting torque, starting current is unlikely excessive again, adopt hexagon magnetic linkage track to control, magnetic linkage track is approached circular, can start with a fixed load or compared with the motor of large inertia load, and electric current remains on less value.
For achieving the above object, the technical solution used in the present invention is:
For a space vector of voltage control device for soft start, its special character is: A phase, B phase, on C phase power supply 0, there is A, B, C three-phase, A phase and thyristor 1, 4 are connected, B phase and thyristor 3, 6 are connected, C phase and thyristor 5, 2 are connected, six electric power gate level turn-off thyristor GTO1, 2, 3, 4, 5, in 6,1 and 4,3 and 6,5 and 2 inverse parallels between two, thyristor GTO1, 4 are connected with current Hall transducer 8, thyristor GTO3, 6 are connected with current Hall transducer 9, thyristor GTO5, 2 are connected with current Hall transducer 10, current Hall transducer 8 is connected with the A of three-phase AC asynchronous motor 11, current Hall transducer 9 is connected with the B of three-phase AC asynchronous motor 11, current Hall transducer 10 is connected with the C of three-phase AC asynchronous motor 11, the A phase of continuous current circuit 12 and three-phase AC asynchronous motor 11, B phase, C is connected, and continuous current circuit 12 adopts an insulated gate bipolar transistor IGBT and rectifier bridge to form, microcontroller 7 and thyristor GTO1, 2, 3, 4, 5, 6 control end, in continuous current circuit 12, the control end of IGBT is connected.
The control method of above-mentioned a kind of space vector of voltage control device for soft start, its special character is: A phase, B phase, the pressure regulation of C cross streams, frequency modulation and hexagon magnetic linkage track control mode are: when A phase zero crossing angle is
Time,
, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 6,1, A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 6,1 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 1,2, A is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 1,2 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 3,2, B is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 3,2 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 3,4, B is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 3,4 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while,Corresponding
Constantly, by microcontroller 7, send triggering signal to IGCT 5,4, C is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 5,4 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 5,6, C is the just negative half period conducting of half cycle and B phase mutually simultaneously,After conducting a period of time, correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 5,6 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 1,6, A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 1,6 simultaneously,From
Arrive
Electric moter voltage is
; The control method of B phase and C phase is identical with the control method principle of A phase.
The control method of above-mentioned a kind of space vector of voltage control device for soft start, its special character is: a kind of space vector of voltage control device for soft start completes the control of one-period to three phase mains, 0.04s consuming time, 0.06s, 0.08s, 0.10s, 0.14s, 0.26s, the supply frequency after space vector of voltage regulating and controlling by
become
,
,
,
,
,
;
The control method of above-mentioned a kind of space vector of voltage control device for soft start, its special character is: a kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
, then arrive
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
, then arrive
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started;
The control method of above-mentioned a kind of space vector of voltage control device for soft start, its special character is: a kind of space vector of voltage control device for soft start arrives electric motor starting
and forward to after output relevant voltage
and forward to again after output relevant voltage
and forwarding to after output relevant voltage
and forward to again after output relevant voltage
and forward to again after output relevant voltage
and after output relevant voltage, select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started.
Control method of the present invention, when effectively reducing electric motor starting electric current, does not reduce again the starting torque of motor, really accomplishes little electric current, large torque starting, compares with current technology, has clear superiority.
Accompanying drawing explanation
Fig. 1 is the major loop structure topological diagram of the Space Voltage Vector Control Strategy of soft start.
Fig. 2 is that the space vector of voltage of soft start is controlled
under three phase mains oscillogram.
Fig. 3 is three-phase thyristor pressure regulation three phase mains oscillogram.
Fig. 4 is three-phase mains voltage phasor diagram.
Fig. 5 is the interval corresponding voltage phasor-diagram of each conducting of Space Voltage Vector Control Strategy of soft start.
Fig. 6 is that the space vector of voltage of soft start is controlled
under three phase mains oscillogram.
Fig. 7 is that the space vector of voltage of soft start is controlled
under the first three phase mains oscillogram.
Fig. 8 is that the space vector of voltage of soft start is controlled
under the second three phase mains oscillogram.
Fig. 9 is that the space vector of voltage of soft start is controlled
under the first three phase mains oscillogram.
Figure 10 is that the space vector of voltage of soft start is controlled
under the second three phase mains oscillogram.
Figure 11 is that the space vector of voltage of soft start is controlled
under three phase mains oscillogram.
Figure 12 is that the space vector of voltage of soft start is controlled
under three phase mains oscillogram.
Embodiment
The present invention powers with three-phase alternating-current supply, with six electric power gate level turn-off thyristor GTO1,2,3,4,5,6, under the control of microcontroller 7, form space vector of voltage control circuit, wherein thyristor 1 and 4 controls that realize AC power A phase, thyristor 3 and 6 controls that realize AC power B phase, thyristor 5 and 2 controls that realize AC power C phase.Wherein thyristor 1,3,5 is controlled respectively the positive half cycle of A, B, C phase, and thyristor 4,6,2 is controlled respectively the negative half period of A, B, C phase. Current transformer 8,9,10 is for passing to three-phase current signal microcontroller 7 for current limit starting and current monitoring.With an insulated gate bipolar transistor IGBT, form continuous current circuit, under the control of microcontroller 7, thyristor 1,2,3,4,5,6 conductings successively, the output frequency cycle be 20ms*n wherein n=2,3,4,5,7,8,9,10,11,12,13 after 7 power frequency periods, complete like this space vector of voltage control cycle.And the trigger angle while triggering thyristor is adjustable at every turn, can in conjunction with voltage-regulation above, can keep constant voltage/frequency ratio by regulating the size of Trigger Angle to carry out regulation voltage size, keep motor main flux constant.Treat that motor reaches
and after output relevant voltage, supply frequency can be regulated to more higher leveled frequency band, continue constantly to increase starting voltage by voltage regulating mode, total head mode or current-limiting mode, until electric motor starting completes.
11 is threephase asynchronous, and 12 for insulated gate bipolar transistor IGBT is used for forming continuous current circuit, the on off state of continuous current circuit just with the opposite states of main circuit original paper, be that main circuit is when open, freewheeling circuit turn-offs, and when main circuit turn-offs, freewheeling circuit is open-minded.
With reference to accompanying drawing 1-5, the concrete specific embodiment of the invention, with
for example, in accompanying drawing 1, main circuit structure adopts six electric power gate level turn-off thyristor GTO1, 2, 3, 4, 5, 6 form space vector of voltage control circuit under the control of microcontroller 7 drives threephase asynchronous machine 11 startings, the three-phase voltage waveform in accompanying drawing 2 of take is reference, common three-phase thyristor soft-start by lowering voltage device is by controlling successively the triggering moment of six electric power gate level turn-off thyristor GTO, three-phase main-frequency ac power waveform is become to dash area in accompanying drawing 3, when changing voltage, can not change supply frequency, three-phase voltage phasor diagram of the present invention is referring to accompanying drawing 4, when A phase zero crossing angle is
time, correspondence
constantly, by microcontroller 7, send triggering signal to IGCT 6,1, A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
constantly,By microcontroller 7, send cut-off signals to IGCT 6,1 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 1,2, A is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 1,2 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 3,2, B is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 3,2 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 3,4, B is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 3,4 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while,Corresponding
Constantly, by microcontroller 7, send triggering signal to IGCT 5,4, C is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 5,4 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 5,6 simultaneously,C is the just negative half period conducting of half cycle and B phase mutually, after conducting a period of time, and correspondence
Constantly, by microcontroller 7, send cut-off signals to IGCT 5,6 simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller 7, send triggering signal to IGCT 1,6, A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly,By microcontroller 7, send cut-off signals to IGCT 1,6 simultaneously, from
Arrive
Electric moter voltage is
.So far, the Space Voltage Vector Control Strategy of soft start completes the control of one-period to three phase mains, and 7 power frequency periods consuming time, are 0.14s, the supply frequency after space vector of voltage regulating and controlling by
become
, motor stator voltage vector waveform phasor diagram, referring to accompanying drawing 5, in one-period along arrow side Space Rotating one week, motor stator magnetic direction also rotates a circle along the direction of arrow in one-period, frequency is
. Current transformer 8,9,10 is for passing to three-phase current signal microcontroller 7 for current limit starting and current monitoring.
During each triggering thyristor, can be by regulating Trigger Angle
size carry out regulation voltage size, the cycle of controlling due to space vector of voltage is
, in conjunction with voltage-regulation above, can keep constant voltage/frequency ratio, keep motor main flux constant.Treat that motor reaches
and after output relevant voltage, the three-phase voltage waveform in accompanying drawing 6-12 of take is reference, can in the same way supply frequency be adjusted to respectively
,
,
,
deng, after reaching this frequency and output relevant voltage, motor accesses again power frequency supply, continue constantly to increase starting voltage by voltage regulating mode or current-limiting mode, until electric motor starting completes; Also can reach at motor
and after output relevant voltage, directly access power frequency supply, continue constantly to increase starting voltage by voltage regulating mode or current-limiting mode, until electric motor starting completes.
Claims (3)
1. for a space vector of voltage control device for soft start, it is characterized in that: A phase, B phase, on C phase power supply (0), there is A, B, C three-phase, A phase and thyristor (1), (4) be connected, B phase and thyristor (3), (6) be connected, C phase and thyristor (5), (2) be connected, six electric power gate level turn-off thyristor GTO(1), (2), (3), (4), (5), (6) in, (1) and (4), (3) and (6), (5) and (2) inverse parallel between two, thyristor GTO(1), (4) be connected with current Hall transducer (8), thyristor GTO(3), (6) be connected with current Hall transducer (9), thyristor GTO(5), (2) be connected with current Hall transducer (10), current Hall transducer (8) is connected with the A of three-phase AC asynchronous motor (11), current Hall transducer (9) is connected with the B of three-phase AC asynchronous motor (11), current Hall transducer (10) is connected with the C of three-phase AC asynchronous motor (11), the A phase of continuous current circuit (12) and three-phase AC asynchronous motor (11), B phase, C is connected, and continuous current circuit (12) adopts an insulated gate bipolar transistor IGBT and rectifier bridge to form, microcontroller (7) and thyristor GTO(1), (2), (3), (4), (5), (6) control end, in continuous current circuit (12), the control end of IGBT is connected.
2. the control method of a kind of space vector of voltage control device for soft start according to claim 1, is characterized in that: A phase, B phase, the pressure regulation of C cross streams, frequency modulation and hexagon magnetic linkage track control mode are: when A phase zero crossing angle is
Time,
, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (6), (1), A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (6), (1) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (1), (2), A is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (1), (2) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (3), (2), B is the just negative half period conducting of half cycle and C phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (3), (2) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (3), (4), B is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (3), (4) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (5), (4), C is the just negative half period conducting of half cycle and A phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (5), (4) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (5), (6), C is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (5), (6) simultaneously, from
Arrive
Electric moter voltage is
; Again through after a while, correspondence
Constantly, by microcontroller (7), send triggering signal to IGCT (1), (6), A is the just negative half period conducting of half cycle and B phase mutually simultaneously, after conducting a period of time, and correspondence
Constantly, by microcontroller (7), send cut-off signals to IGCT (1), (6) simultaneously, from
Arrive
Electric moter voltage is
; The control method of B phase and C phase is identical with the control method principle of A phase.
3. the control method of a kind of space vector of voltage control device for soft start according to claim 1, it is characterized in that: a kind of space vector of voltage control device for soft start completes the control of one-period to three phase mains, 0.04s consuming time, 0.06s, 0.08s, 0.10s, 0.14s, 0.26s, the supply frequency after space vector of voltage regulating and controlling by
become
,
,
,
,
,
.
4. the control method of a kind of space vector of voltage control device for soft start according to claim 1, is characterized in that: a kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
, then arrive
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started; A kind of space vector of voltage control device for soft start arrives electric motor starting
and after output relevant voltage, can select to continue to adopt frequency conversion voltage adjusting extremely
arrive again
, then arrive
arrive again
, then arrive
after, then proceed to power frequency pressure regulation, total head mode or current-limiting mode and constantly increase starting voltage starting, also can directly from power frequency pressure regulation, total head mode or current-limiting mode, constantly increase starting voltage starting, until started.
5. the control method of a kind of space vector of voltage control device for soft start according to claim 1, is characterized in that: a kind of space vector of voltage control device for soft start arrives electric motor starting
and forward to after output relevant voltage
and forward to again after output relevant voltage
and forwarding to after output relevant voltage
and forward to again after output relevant voltage
and forward to again after output relevant voltage
and after output relevant voltage, select power frequency pressure regulation, total head mode or current-limiting mode constantly to increase starting voltage starting, until started.
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