CN104022712B - Mine locomotive direct current turns AC inverter and moment controlling system - Google Patents
Mine locomotive direct current turns AC inverter and moment controlling system Download PDFInfo
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- CN104022712B CN104022712B CN201410276081.8A CN201410276081A CN104022712B CN 104022712 B CN104022712 B CN 104022712B CN 201410276081 A CN201410276081 A CN 201410276081A CN 104022712 B CN104022712 B CN 104022712B
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Abstract
Turn AC inverter and moment controlling system the invention discloses a kind of mine locomotive direct current, be related to by magnetic direction control come the device of controlled motor or systems technology field.Three branch roads are parallel between the both positive and negative polarity of the dc source of inverter, first is the resistance R1 and resistance R2 after series connection, and Article 2 is starting rheostat RS and IGBT the pipe T7 after series connection, and Article 3 is IGBT conversion modules；Also include overvoltage protective module, over-current detection module, current detection module, DC voltage monitoring modular, pumping voltage detection module, microprocessor module, three-phase observation circuit, LPF and IGBT overheat monitoring modulars.The system start-up time is shorter, and starting torque is larger, and starting current is smaller, and inverter manufacturing cost is relatively low.
Description
Technical field
The present invention relates to by magnetic direction control come the device of controlled motor or systems technology field, it is more particularly to a kind of
Mine locomotive direct current turns AC inverter and moment controlling system.
Background technology
Starting performance is almost one of all most important indexs of frequency conversion speed-adjusting system of measurement, especially in AC drive locomotive
Deng in large inertia load system, typically it is intended to have big starting torque in mechanical aspects starting process, while electrically aspect rises
Streaming current is as far as possible small, and Start-up of constant torque, output-constant operation.14 tons and during 18 tons of mining orthogonal transmission system electric motor startings it is past
But often there is larger dash current toward output torque deficiency, the damage of switching device in inverter is possibly even caused when serious
It is bad.But, found in process of the test, for the electricity of mine locomotive two of 37.5kW, 100kW use Strategy of Direct Torque Control
In flat frequency conversion speed-adjusting system, usually there is larger dash current in motor low-frequency starting.In 37.5kW frequency converters-department of electrical engineering
In system, this excessive rush of current is highest possible to reach 165A, and current peak during unloaded stable state is only 32A, and system is full
Peak point current during load also only has 120A.Excessive rush of current is easily damaged motor insulation, endangers frequency converter switching device；
Secondly, although starting current is very big, machine torque is exported and little.
In order to avoid excessive dash current, also usually need to improve device current nargin in inverter manufacture, still
Current margins are greatly improved, and often greatly increase manufacturing cost.The ACS800 Series Frequency Converters of ABB AB electric motor starting it
Before, magnetic field is effectively set up, so that the current peak for starting the moment is similar with stable state, starting torque reaches nominal torque
200%, but specific excitation mode is unknown.In order to suppress to start overcurrent, majority uses the power electronics of high current allowance
Device, this in low capacity device still, just by existing device current grade when being applied to middle Large Copacity frequency conversion speed-adjusting system
Limitation.In order to suppress to start overcurrent, soft starting mode can be used, but starting torque is small, starts the time long.Majority is adopted
It is the power electronic devices of high current allowance, considerably increases manufacturing cost.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of mine locomotive direct current and turn AC inverter and direct torque
System, the system start-up time is shorter, and starting torque is larger, and starting current is smaller, and inverter manufacturing cost is relatively low.
In order to solve the above technical problems, the technical solution used in the present invention is：It is inverse that a kind of mine locomotive direct current delivers stream
Become device, it is characterised in that：Three branch roads are parallel between the both positive and negative polarity of dc source, first is the resistance R1 and electricity after series connection
R2 is hindered, Article 2 is starting rheostat RS and IGBT the pipe T7 after series connection, and Article 3 is IGBT conversion modules；Overvoltage protective module
Between first described branch road and Article 2 branch road, output end is connected with the output end of fault-signal processing unit, is used
In the voltage of detection DC supply input, when voltage exceedes threshold value, protection is made；Over-current detection module, positioned at described
Between first branch road and Article 2 branch road, output end is connected with the input of fault-signal processing unit, for detecting direct current
The electric current of power supply, when controller, makes protection；Current detection module, positioned at first described branch road and second
Between bar branch road, the input connection of output end and microprocessor module, for detecting input current；DC voltage monitors mould
Block, between the Article 2 branch road and Article 3 branch road, the input connection of output end and microprocessor module, for reality
When monitoring power line two ends voltage；Grid of the output end of pumping voltage detection module through drive circuit and IGBT pipes T7 connects
Connect；The PWM output ends of microprocessor module are connected through isolation circuit and drive circuit with IGBT conversion modules successively；Become through IGBT
The power supply changed after block transforms is divided into two-way, and the first via is exported to load, and the second tunnel is after three-phase observation circuit and LPF
Input to microprocessor module；The output end of IGBT overheat monitoring modulars inputs to micro- place after being handled through fault-signal processing module
Manage device module.
Further preferred technical scheme is：The microprocessor module uses TES320LF2407A application plates.
Further preferred technical scheme is：The two ends of the resistance R1 and resistance R2 are parallel with filter capacitor, IGBT
Fly-wheel diode is provided between the drain electrode of pipe and source electrode.
The invention also discloses a kind of mine locomotive moment controlling system, it is characterised in that including：Speed control, is used for
It is compared according to the speed and given speed of actual measurement, actual speed is controlled；Flux reference controller task is
The amplitude of stator magnetic flux is controlled to the track for making magnetic flux in allowed limits by stator voltage space vector close to circle,
Calculated according to the magnetic flux optimized amount of reception, export a magnetic flux scope and calculated to torque control module；Torque reference
Controller, for realizing the direct control to torque, or by positive and negative adjuster, while torque is adjusted, passes through DMC algorithms
Correct magnetic linkage switching signal is provided, the direction of rotation of stator magnetic linkage is controlled, to strengthen the regulation of torque；Inverter, for root
According to the position of the switch order exported from optimal pulse selector, to control the voltage the need for inverter output motor, meet
The need for torque.
It is using the beneficial effect produced by above-mentioned technical proposal：The system by be easy to measurement stator voltage,
Electric current and rotating speed etc., magnetic linkage and the torque of motor are directly calculated by instantaneous space vector theory, are compared using two stagnant rings
Device, actual is exactly torque controller, directly to stator magnetic linkage and direct torque.Shorter with the time of startup, starting torque is larger,
Starting current is smaller, the relatively low advantage of inverter manufacturing cost.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the theory diagram of inverter in the present invention；
Fig. 2 is the theory diagram of moment controlling system in the present invention；
Fig. 3 is the theory diagram of torque controller；
Fig. 4 is space voltage vector output equivalent circuit theory diagrams.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Embodiment one
As shown in figure 1, a kind of mine locomotive direct current turns to be parallel with three between AC inverter, the both positive and negative polarity of dc source
Branch road, first is the resistance R1 and resistance R2 after series connection, and Article 2 is starting rheostat RS and IGBT the pipe T7 after series connection, the
Three are IGBT conversion modules；Overvoltage protective module be located between described first branch road and Article 2 branch road, output end with
The output end connection of fault-signal processing unit, the voltage for detecting DC supply input, when voltage exceedes threshold value, is made
Go out protection；Over-current detection module, between first described branch road and Article 2 branch road, output end is handled with fault-signal
The input connection of unit, the electric current for detecting dc source, when controller, makes protection；Current detecting mould
Block, between first described branch road and Article 2 branch road, the input connection of output end and microprocessor module is used for
Detect input current；DC voltage monitoring modular, between the Article 2 branch road and Article 3 branch road, output end and Wei Chu
Manage the input connection of device module, the voltage for monitoring power line two ends in real time；The output end warp of pumping voltage detection module
Drive circuit is connected with IGBT pipes T7 grid；The PWM output ends of microprocessor module are successively through isolation circuit and drive circuit
It is connected with IGBT conversion modules；Power supply after being converted through IGBT conversion modules is divided into two-way, and the first via is exported to load, the second tunnel
Microprocessor module is inputed to after three-phase observation circuit and LPF；The output end of IGBT overheat monitoring modulars is believed through failure
Microprocessor module is inputed to after the processing of number processing module.
Further preferred technical scheme is：The microprocessor module is using TES320LF2407A application plates, still
Microprocessor module is not limited to above-mentioned module, and those skilled in the art can carry out type selecting to it as needed.
Those skilled in the art can also show that the two ends of the resistance R1 and resistance R2 are parallel with filter capacitor, for filtering, IGBT
Fly-wheel diode is provided between the drain electrode of pipe and source electrode, IGBT pipe reverse breakdowns are prevented.
Embodiment two
As shown in Fig. 2 the invention also discloses a kind of mine locomotive moment controlling system, it is characterised in that including：Speed
Controller, is compared for the speed and given speed according to actual measurement, actual speed is controlled；Flux reference control
System has a high regard for business to be to control the amplitude of stator magnetic flux by stator voltage space vector in allowed limits, to make the track of magnetic flux
Close to circle, calculated according to the magnetic flux optimized amount of reception, export a magnetic flux scope and calculated to torque control module；
Torque reference controller, for realizing the direct control to torque, or by positive and negative adjuster, while torque is adjusted, leads to
Cross DMC algorithms and provide correct magnetic linkage switching signal, the direction of rotation of stator magnetic linkage is controlled, to strengthen the regulation of torque；Inversion
Device, for according to the position of the switch order exported from optimal pulse selector, the need for controlling inverter output motor
Voltage, the need for meeting torque.
The principle of the system is：Stator voltage, electric current and rotating speed by being easy to measurement etc., by instantaneous space vector
Theory directly calculates magnetic linkage and the torque of motor, using two hysteresis comparators, and actual is exactly torque controller, directly to fixed
Sub- magnetic linkage and direct torque.In order to control torque, torque regulation must possess two functions:One function is that torque controller is straight
Regulation torque is connect, another function is to use PN adjusters (rotating adjuster), while torque is adjusted, control stator magnet
The direction of rotation of chain, to strengthen the regulation of torque.
Torque controller ATR block diagram operation principle is as shown in figure 3, and be described as follows:
1) actual torque value TfWork as Tf＜ TgWhen, and (Tf-Tg) ＜-εT, but (Tf-Tg) ＞-εPNWhen, TQ=1, PN=1.This
When actual torque TfThan given torque TgIt is small, it is possible to allow switching signal to select output signal, allow ψS(t) along the side of hexagon
Motion, increases θ (t) angle, to increase torque；Work as Tf>Tg, and (Tf-Tg) ＞+εTBut (Tf-Tg) ＞+εPNWhen, TQ=0, PN=l.
At this moment, due to actual torque TfThan given torque TgGreatly, ASS can be allowed to select AZS zero vector, make ψS(t) suspend, reduce θ (t)
Angle, so that torque reduces.Then, TfWith TgDifference be controlled in ± εTIn the range of, meanwhile, ψS(t) loiter.Inverter is opened
Pass pattern also just constantly switches, so as to form PWM voltage waveforms.
Actual torque value is Tf, control set-point is Tg
2) when torque reference value suddenly change is larger, it may appear that situations below:Work as Tf<Tg, and (Tf-Tg) ＜-εPN, (because
And affirm<-εT) when, TQ=1, PN=1.At this moment, DMC signal is still selected, makes ψS(t) moved along the side of hexagon, to increase
Plus Tf；Work as Tf>Tg。
With loom magnetic linkageWithFor the state equation of the induction machine of state variable：
In formula：Referred to as motor leakage inductance coefficient, pnRepresent the number of pole-pairs of induction machine
The output voltage u of inverters(t) it is applied directly on the stator of asynchronous motor, stator magnetic linkage ψs(t) with stator electricity
Press us(t) relation between determines by following formula,
ψs(t)=∫ (us(t)-is(t)Rs)dt
The electromagnetic torque of motor can be expressed as the form of stator magnetic linkage and rotor flux：
"×" in formula represents vector product.In addition electromagnetic torque can also be represented with stator magnetic linkage and stator current,
Electromagnetic torque equation under alpha-beta coordinate system is：
Because, per mutually voltage vector is sent using chopping way, exciting current will be with I in DSP PWM controlling cycles0For
Fuctuation within a narrow range above and below center, thus electric current is also induced in rotor-side, and when thinking that exciting current reaches stable state, due to now magnetic
Chain is unchanged, rotor loop closure, therefore Ir=0, then have
Now space voltage vector output equivalent circuit theory diagrams are as shown in Figure 4.
The output voltage u of inverters(t) it is applied directly on the stator of asynchronous motor, stator magnetic linkage ψs(t) with stator electricity
Press us(t) relation between determines by following formula formula,
ψs(t)=∫ (us(t)-is(t)Rs)dt (5)
Points for attention：(1) moment is started, in order to effectively utilize set up magnetic field, moment should be terminated in pre-excitation vertical
Carve and start motor, otherwise magnetic field will decay with the decay of electric current.When electric current is 0 so that excitation effect is not filled
Partite transport is used.
(2) the effectively excitation time time is longer, and excitation effect is more abundant, and output electromagnetic torque is bigger.In order to reach
Predetermined current value, at least requires effective excitation time 0.10s.
(3) excitation voltage amplitude is bigger, and stable state exciting current is bigger, and output torque is bigger, can be it is noted that motor insulation will
The pressure-resistant and current value asked.
(4) output torque reaches when excitation voltage vector starts angle, θ=90 ° between moment voltage vector or so
Maximum.
(5) in DC pre-excitation, by the way of DC chopped-wave, larger voltage vector is shown as in software control
Alternately sent with zero vector, dutycycle takes 0.95, while noting adding stator current amplitude limit link (stator current in excitation process
It is too many no more than rated current, so in control software, adding higher limit).
When being set as automatic, voltage automatic lifting during starting can be made to compensate starting torque, motor is smoothly started.
When such as using manual compensation, according to locomotive load characteristic, the starting characteristic especially loaded can select preferable song by experiment
Line.For constant load, such as select improper output voltage when occurring low speed too high, and waste the phenomenon of electric energy, or even can also
There is electric current when motor bringing onto load is started big, and the phenomenon that rotating speed does not increase.
Claims (3)
1. a kind of mine locomotive direct current turns AC inverter, it is characterised in that：Three are parallel between the both positive and negative polarity of dc source
Branch road, first series arm, specifically, electric capacity C1 and resistance R1 formation parallel circuits, electric capacity C2 forms in parallel with resistance R2
Circuit, two parallel circuits connect to form first series arm again；Article 2 is the starting rheostat RS and IGBT after series connection
Pipe T7, Article 3 is IGBT conversion modules；Overvoltage protective module is located between described first branch road and Article 2 branch road, defeated
Go out end to be connected with the output end of fault-signal processing unit, the voltage for detecting DC supply input, when voltage exceedes threshold
During value, protection is made；Over-current detection module, between first described branch road and Article 2 branch road, output end and failure
The input connection of signal processing unit, the electric current for detecting dc source, when controller, makes protection；Electricity
Flow detection module, between first described branch road and Article 2 branch road, the input of output end and microprocessor module
Connection, for detecting input current；DC voltage monitoring modular, it is defeated between the Article 2 branch road and Article 3 branch road
Go out end to be connected with the input of microprocessor module, the voltage for monitoring power line two ends in real time；Pumping voltage detection module
Output end be connected through drive circuit with IGBT pipes T7 grid；The PWM output ends of microprocessor module are successively through isolation circuit
It is connected with drive circuit with IGBT conversion modules；Power supply after being converted through IGBT conversion modules is divided into two-way, the first via export to
Load, the second tunnel inputs to microprocessor module after three-phase observation circuit and LPF；IGBT overheats the defeated of monitoring modular
Go out after end is handled through fault-signal processing module and input to microprocessor module；
The two ends of the resistance R1 and resistance R2 are parallel with filter capacitor, for filtering, are set between the drain electrode of IGBT pipes and source electrode
There is fly-wheel diode, prevent IGBT pipe reverse breakdowns.
2. mine locomotive direct current according to claim 1 turns AC inverter, it is characterised in that：The microprocessor module
Use TES320LF2407A application plates.
3. a kind of mine locomotive moment controlling system, it is characterised in that including：Speed control, for the speed according to actual measurement
Degree and given speed are compared, and actual speed is controlled；Flux reference controller task is by stator voltage space
The amplitude control of stator magnetic flux in allowed limits, is made the track of magnetic flux close to circle by vector, excellent according to the magnetic flux of reception
Change amount is calculated, and is exported a magnetic flux scope and is calculated to torque control module；Torque reference controller, for realization pair
The direct control of torque, or by positive and negative adjuster, while torque is adjusted, correct magnetic linkage is provided by DMC algorithms and opened
OFF signal, controls the direction of rotation of stator magnetic linkage, to strengthen the regulation of torque；Inverter, general principle be dc source just
Three branch roads are parallel between negative pole, first is the resistance R1 and resistance R2 after series connection, and Article 2 becomes for the startup after series connection
Device RS and IGBT pipe T7 is hindered, Article 3 is IGBT conversion modules；Overvoltage protective module is located at described first branch road and second
Between bar branch road, output end is connected with the output end of fault-signal processing unit, the voltage for detecting DC supply input,
When voltage exceedes threshold value, protection is made；Over-current detection module, between first described branch road and Article 2 branch road,
Output end is connected with the input of fault-signal processing unit, the electric current for detecting dc source, when controller,
Make protection；Current detection module, between first described branch road and Article 2 branch road, output end and microprocessor mould
The input connection of block, for detecting input current；DC voltage monitoring modular, positioned at the Article 2 branch road and Article 3 branch
Between road, the input connection of output end and microprocessor module, the voltage for monitoring power line two ends in real time；Pumping voltage
The output end of detection module is connected through drive circuit with IGBT pipes T7 grid；The PWM output ends of microprocessor module are passed through successively
Isolation circuit and drive circuit are connected with IGBT conversion modules；Power supply after being converted through IGBT conversion modules is divided into two-way, first
Road is exported to load, and the second tunnel inputs to microprocessor module after three-phase observation circuit and LPF；IGBT overheat monitorings
The output end of module inputs to microprocessor module after being handled through fault-signal processing module；For according to from optimal pulse choosing
The position of the switch order of device output is selected, to control the voltage the need for inverter output motor, the need for meeting torque.
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| CN104022712B true CN104022712B (en) | 2017-07-21 |
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| CN105958623A (en) * | 2016-04-08 | 2016-09-21 | 合肥中南光电有限公司 | Concentrating photovoltaic device of outputting alternating current signals |
| CN112454364B (en) * | 2020-12-03 | 2022-02-22 | 之江实验室 | Robot joint module driver and control method thereof |
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| CN202084941U (en) * | 2011-06-08 | 2011-12-21 | 湖南大学 | Three-phase two-arm three-level active power quality compensator suitable for middle-and-high voltage system |
| WO2013153571A1 (en) * | 2012-04-10 | 2013-10-17 | 富士電機株式会社 | Power conversion device |
| CN102684599A (en) * | 2012-05-07 | 2012-09-19 | 徐州中矿大传动与自动化有限公司 | Mine anti-explosion frequency conversion device with low switching frequency |
| CN103346567B (en) * | 2013-07-30 | 2015-11-25 | 扬州华电电气有限公司 | A kind of parallel connection type active electric filter |
| CN204013311U (en) * | 2014-06-19 | 2014-12-10 | 兰州交通大学 | Mine locomotive direct current turns AC inverter |
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