CN104980086A - Servo driver of electric locomotive and driving method of electric locomotive - Google Patents
Servo driver of electric locomotive and driving method of electric locomotive Download PDFInfo
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- CN104980086A CN104980086A CN201510369551.XA CN201510369551A CN104980086A CN 104980086 A CN104980086 A CN 104980086A CN 201510369551 A CN201510369551 A CN 201510369551A CN 104980086 A CN104980086 A CN 104980086A
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- electric locomotive
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a servo driver of an electric locomotive and a driving method of the electric locomotive. The servo driver comprises an inversion module, a current sensor, a processor, a pulse width modulation (PWM) module and a vector control module. The servo driver provided by the invention has the advantages of low-speed and large-torque output, large traction force, more stable operation, settable operation speed, flexible startup and shutdown and capability of greatly reducing an impact force; and an inner power circuit adopts controllable silicon rectifier technologies, so that the fault protection performance of the servo driver can be greatly improved. The traction method of the electric locomotive is characterized in that a storage battery on the electric locomotive can directly supply power, and therefore, an external power distribution device for the servo driver can be omitted; a power source voltage alarm threshold value can be set arbitrarily, so that protection for the storage battery can be benefitted. With the servo driver of the electric locomotive and the driving method of the electric locomotive of the invention adopted, when the external power distribution device is not provided, the servo driver can complete traction for the electric locomotive, and the electric locomotive can be put into and delivered out from a warehouse accurately, quickly and conveniently.
Description
Technical field
The present invention relates to Electric control field, particularly relate to a kind of servo-driver and driving method thereof of electric locomotive.
Background technology
In prior art, electric locomotive needs warehouse-in to carry out dispatching or keeping in repair, and before not putting in storage, is generally powered to electric locomotive by external high pressure contact line, drives electric locomotive to advance.But after electric locomotive warehouse-in, high-voltage contact net is not powered to electric locomotive, in order to make electric locomotive warehouse-in or outbound, existing way has two kinds, and the first is use is that the dolly of power source is by electric locomotive traction warehouse-in or traction outbound with internal combustion engine; The second is employing is that the dolly of power source is by electric locomotive traction warehouse-in or traction outbound with storage battery.The weak point of above-mentioned two kinds of methods is, after this trailer wagon has carried out drawing warehouse-in to current power locomotive, if traction outbound will be carried out to current power locomotive, this trailer wagon needs to exchange direction, and after this trailer wagon carries out traction warehouse-in or traction outbound to current power locomotive, if will draw the next electric locomotive on different track, this trailer wagon needs to exchange track.Therefore this method utilizing trailer wagon to carry out drawing uses inconvenience in actual applications, there is certain limitation.
Summary of the invention
The object of the invention is the defect for prior art, a kind of servo-driver and driving method of electric locomotive are provided, electric locomotive can be put in storage and outbound accurately, fast and easily.
For achieving the above object, the present invention provides a kind of servo-driver of electric locomotive in first aspect, it is characterized in that, comprising:
Inversion module, for being converted to alternating voltage by the direct voltage of storage battery;
Current sensor, for gathering the current signal of motor load;
Processor, for received current signal, and according to the pwm signal that current signal adjustment pulse width modulation (PWM) module exports;
Vector control module controls the turn-on logic of inversion module gate circuit according to pwm signal, generates and controls alternating current, and control alternating current is exported to electric locomotive motor.Preferably, also comprise silicon controlled module, be connected to the storage battery of electric locomotive, as noncontacting switch, for switching on or off the connection of described storage battery and servo-driver.
Preferably, also comprising AD converter, for receiving the current signal of motor load, and being converted to digital signal output.
Preferably, also comprise brake module, when motor braking, motor can to servo-driver reverse power generation, and after voltage is higher than certain value, the resistance in brake module is open-minded, and release excess energy is to protect described driver.
Preferably, also comprise high voltage connector, for isolating vehicle-mounted frequency converter in described electric locomotive and servo-driver.
Preferably, also comprise power module, the voltage range of described power module support is: 60V-140V.
Preferably, also comprising warning system, for monitoring the voltage of power supply, when supply power voltage is more than 60V-140V scope, giving the alarm, protection servo-driver.
Preferably, processor is also for receiving the feedback signal of the encoder transmission in electric locomotive.
For achieving the above object, the present invention provides a kind of driving method of electric locomotive in second aspect, it is characterized in that, described method comprises:
The direct voltage of storage battery is converted to alternating voltage;
Gather the current signal of motor load;
According to current signal, adjustment pwm signal;
Generate according to pwm signal and control alternating current, and control alternating current is exported to electric locomotive motor group.
Servo-driver provided by the invention has the output characteristic of low speed, high pulling torque, and tractive effort is large, runs more steady; The speed of service can be arranged, and flexible start and stop car, substantially reduces impulsive force; Servo-driver internal motivation circuit have employed controllable silicon steady flow, when storage battery starts to power up to servo-driver, no-spark, and can be with carry cut off the electricity supply, greatly improve the abnormal protection performance of servo-driver.And the traction method of this electric locomotive, there is the feature of direct battery power on motor locomotive, eliminate the outside power distribution equipment of servo-driver; And supply voltage alarm door limit value can be arranged arbitrarily, is beneficial to protection storage battery.
Accompanying drawing explanation
The theory diagram of the servo-driver that Fig. 1 provides for the embodiment of the present invention;
The driving method flow chart that Fig. 2 provides for the embodiment of the present invention.
Embodiment
Below by drawings and Examples, the technical scheme of the embodiment of the present invention is described in further detail.
In first aspect, the invention provides a kind of servo-driver of electric locomotive, Fig. 1 is the theory diagram of the servo-driver that the embodiment of the present invention provides, as shown in Figure 1, this servo-driver comprises: inversion module 103, vector control module 105, current sensor 108, processor 110 and pulse width modulation (Pulse Width Modulation, PWM) module 106.
Inversion module 103, for the direct voltage of storage battery 101 is converted to alternating voltage, that is, is converted to alternating current by the direct current of storage battery 101, for servo-driver work.Wherein, storage battery can be batteries.Alternatively, this servo-driver also comprised silicon controlled module 102 before inversion module, was connected to the storage battery 101 of electric locomotive, as noncontacting switch, for switching on or off the connection of storage battery 101 and servo-driver.Storage battery 101 in electric locomotive starts power supply, after the process of silicon controlled module 102 current stabilization, and being loaded on servo-driver of the electricity that storage battery 101 supplies.Because servo-driver internal motivation circuit have employed controllable silicon steady flow; when the power supply of storage battery 101 is loaded on servo-driver; avoid the generation of spark; simultaneously; in the electric locomotive course of work; can also be with to carry and cut off the electricity supply, greatly improve the abnormal protection performance of servo-driver.
Current sensor 108, for gathering the current signal of motor load.Particularly, current sensor 108 gathers the current signal of motor load, and is sent to processor 110.
Alternatively, this servo-driver also comprises AD converter 109, for the current signal of the motor load that received current transducer 108 gathers, and sends to processor 110 to process after this current signal is converted to digital signal.
Processor 110, for received current signal, and according to the pwm signal that current signal adjustment PWM module exports.
Particularly, the current signal that processor 110 received current transducer 108 exports, and the output torque of now motor is calculated according to this current signal.In addition, processor 110 also needs to need generation control command according to electric locomotive actual motion, and wherein, control command comprises the exciting current and torque current that how to control motor, in other words, namely control command includes moment of torsion and the rotary speed information of electric locomotive motor.Processor 110 adjusts according to the difference between the moment of torsion of now electric locomotive and control command the pwm signal that PWM module 106 exports, namely, processor 110 received current signal, and the pwm signal adjusting PWM module 106 output according to the difference between current signal and control command.
Alternatively, processor 110 can also receive the digital signal that AD converter 109 exports, and calculates the output torque of now motor according to this digital signal.Processor 110 receiving digital signals, and the pwm signal adjusting PWM module 106 output according to the difference between digital signal and control command.
Optionally, processor 110 is also for receiving the feedback signal of the encoder transmission in electric locomotive.And the pwm signal of PWM module 106 output is adjusted according to the difference between feedback signal and control command.
Concrete, the motor of electric locomotive being provided with encoder, for gathering feedback signal, and this feedback signal being sent to processor 110.Wherein, feedback signal can comprise: the information of the aspect such as rotating speed, rotation direction, angle of rotor.The feedback signal of processor 110 received current signal and encoder, and the pwm signal adjusting PWM module 106 output according to current signal and the difference between feedback signal and control command.
Further alternative, processor 110 can also receive the digital signal that AD converter 109 exports, and calculates the output torque of now motor according to this digital signal.The feedback signal of processor 110 receiving digital signals and encoder, and the pwm signal adjusting PWM module 106 output according to digital signal and the difference between feedback signal and control command.
Vector control module 105, for controlling the turn-on logic of inversion module gate circuit according to pwm signal, generates and controls alternating current, and control alternating current is exported to electric locomotive motor, control motor rotation.
Particularly, vector control module 105 receives the pwm signal after the alternating voltage and adjustment obtained through inversion module 102 inversion, the turn-on logic controlling inversion module 102 gate circuit according to the pwm signal received generates control alternating current, and control alternating current is exported to the motor of electric locomotive, control the running of motor, make electric locomotive complete warehouse-in or outbound.Wherein, motor can be group of motors.Control the information that alternating current can comprise exciting current and torque current aspect, in other words, namely control moment of torsion and rotary speed information that alternating current can comprise electric locomotive motor.
Alternatively, this servo-driver also comprises power module 107, and power module 107 controls the DC inversion process of whole circuit, and powers to whole servo-driver.The DC input voitage scope supported is: 60V-140V.
Further alternatively, this servo-driver also comprises warning system, for monitoring the voltage of power supply, when supply power voltage is more than 60V-140V scope, gives the alarm, protection servo-driver.It should be noted that, the supply voltage alarm door limit value of warning system can be arranged arbitrarily, is conducive to protecting storage battery.
Alternatively, this servo-driver also comprises brake module 104, and when motor braking, motor can to servo-driver reverse power generation, and after voltage is higher than certain value, the resistance in brake module 104 is open-minded, and release excess energy, to protect servo-driver.
Alternatively, this servo-driver also comprises high voltage connector, and when changing into by storage battery power supply for being powered by high-voltage line, the vehicle-mounted frequency converter in isolation electric locomotive and servo-driver, in case high-voltage line causes damage to servo-driver.
The present invention is not providing in outside power distribution equipment situation, and servo-driver completes the traction to electric locomotive, and electric locomotive can be put in storage and outbound accurately, fast and easily.
The servo-driver that the embodiment of the present invention provides, has the output characteristic of low speed, high pulling torque, and tractive effort is large, runs more steady; The speed of service can be arranged, and flexible start and stop car, substantially reduces impulsive force; Servo-driver internal motivation circuit have employed controllable silicon steady flow, when storage battery powers up to servo-driver, no-spark, and can be with carry cut off the electricity supply, greatly improve servo-driver abnormal protection performance.And this servo-driver, there is the feature of direct battery power on motor locomotive, eliminate the outside power distribution equipment of servo-driver; And supply voltage alarm door limit value can be arranged arbitrarily, is beneficial to protection storage battery.
In second aspect, corresponding, the invention provides a kind of driving method of electric locomotive, the driving method flow chart that Fig. 2 provides for the embodiment of the present invention, as shown in Figure 2, the method comprises:
Step 201, is converted to alternating voltage by the direct voltage of storage battery.
When storage battery in electric locomotive starts to power, be alternating voltage by direct voltage inversion, that is, the direct current of storage battery be converted to alternating current for servo-driver work.Wherein, storage battery can be batteries.Alternatively; before direct voltage inversion is alternating voltage; can also comprise and current stabilization process is carried out to direct voltage; so that when the power supply of storage battery is loaded on servo-driver; avoid the generation of spark, meanwhile, in the electric locomotive course of work; can also be with to carry and cut off the electricity supply, greatly improve servo-driver abnormal protection performance.Optionally, when electric locomotive utilizes high-voltage line to power to change storage battery power supply into, adopt the vehicle-mounted frequency converter in high voltage connector isolation electric locomotive and servo-driver, in case high-voltage line causes damage to servo-driver.
Step 202, gathers the current signal of motor load.
Step 203, according to current signal, adjustment pwm signal.
Particularly, the output torque of now motor is calculated according to the current signal of the motor load gathered.In addition, also need to need generation control command according to electric locomotive actual motion, wherein, control command comprises the exciting current and torque current that how to control motor, and in other words, namely control command includes moment of torsion and the rotary speed information of electric locomotive motor.Difference between the moment of torsion of electric locomotive and control command adjusts the pwm signal of output, that is, received current signal, and adjusts the pwm signal of output according to the difference between current signal and control command.
Alternatively, first current signal can also be converted to digital signal, then calculate the output torque of motor according to digital signal.Now, then the pwm signal exported according to digital signal and the discrepancy adjustment between feedback signal and control command is needed.
Alternatively, the motor of electric locomotive is provided with encoder, for gathering feedback signal, wherein, feedback signal can comprise: the information of the aspect such as rotating speed, rotation direction, angle of rotor.Now, then the pwm signal exported according to current signal and the discrepancy adjustment between feedback signal and control command is needed.Alternatively, first current signal can also be converted to digital signal, then calculate the output torque of motor according to digital signal.Now, then the pwm signal exported according to digital signal and the discrepancy adjustment between feedback signal and control command is needed.
Step 204, generates according to described pwm signal and controls alternating current, and described control alternating current is exported to electric locomotive motor, control motor rotation.
Concrete, receive the pwm signal exported after adjustment in step 203, and control alternating current according to the pwm signal generation received, and this control alternating current is sent to the motor in electric locomotive, control the running of motor, make electric locomotive complete warehouse-in or outbound.Wherein, motor can be group of motors.Control the information that alternating current can comprise exciting current and torque current aspect.
Alternatively, the voltage range that this servo-driver is powered is 60V ~ 140V, and when exceeding this voltage range, servo-driver can give the alarm, so that protect this servo-driver.
Alternatively, when motor braking, motor is to servo-driver reverse power generation, and when voltage is higher than certain value, the resistance conducting in the circuit in servo-driver, the excess energy of release servo-driver inside, to protect servo-driver.
The present invention is not providing in outside power distribution equipment situation, and servo-driver completes the traction to electric locomotive, and electric locomotive can be put in storage and outbound accurately, fast and easily.
The driving method of the electric locomotive that the embodiment of the present invention provides, servo-driver has the output characteristic of low speed, high pulling torque, and tractive effort is large, runs more steady; The speed of service can be arranged, and flexible start and stop car, substantially reduces impulsive force; Servo-driver internal motivation circuit have employed controllable silicon steady flow, when storage battery powers up to servo-driver, no-spark, and can be with carry cut off the electricity supply, greatly improve servo-driver abnormal protection performance.And the traction method of this electric locomotive, there is the feature of direct battery power on motor locomotive, eliminate the outside power distribution equipment of servo-driver; And supply voltage alarm door limit value can be arranged arbitrarily, is beneficial to protection storage battery.
Professional should recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random asccess memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; the protection range be not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a servo-driver for electric locomotive, is characterized in that, comprising:
Inversion module, for being converted to alternating voltage by the direct voltage of storage battery;
Current sensor, for gathering the current signal of motor load;
Processor, for receiving described current signal, and according to the pwm signal that described current signal adjustment pulse width modulation (PWM) module exports;
Vector control module controls the turn-on logic of inversion module gate circuit according to described pwm signal, generates and controls alternating current, and described control alternating current is exported to electric locomotive motor, controls motor rotation.
2. servo-driver according to claim 1, is characterized in that, also comprise silicon controlled module, be connected to the storage battery of electric locomotive, as noncontacting switch, for switching on or off the connection of described storage battery and servo-driver.
3. servo-driver according to claim 1, is characterized in that, also comprises AD converter, for receiving the current signal of described motor load, and is converted to digital signal output.
4. servo-driver according to claim 1, is characterized in that, also comprises brake module; when motor braking, motor can to servo-driver reverse power generation, after voltage is higher than certain value; resistance in brake module is open-minded, and release excess energy, to protect servo-driver.
5. servo-driver according to claim 1, is characterized in that, also comprises high voltage connector, for isolating vehicle-mounted frequency converter in described electric locomotive and servo-driver.
6. servo-driver according to claim 1, is characterized in that, also comprises power module, and the voltage range of described power module support is: 60V-140V.
7. servo-driver according to claim 1, is characterized in that, also comprises warning system, for monitoring the voltage of power supply, when supply power voltage is more than 60V-140V scope, gives the alarm, protection servo-driver.
8. servo-driver according to claim 1, it is characterized in that, described processor also for the feedback signal that the encoder received in described electric locomotive sends, and adjusts the pwm signal of pulse width modulation (PWM) module output according to described current signal and described feedback signal.
9. a driving method for electric locomotive, is characterized in that, described method comprises:
The direct voltage of storage battery is converted to alternating voltage;
Gather the current signal of motor load;
According to described current signal, adjustment pwm signal;
Generate according to described pwm signal and control alternating current, and described control alternating current is exported to electric locomotive motor, control motor rotation.
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| CN201510369551.XA CN104980086A (en) | 2015-06-26 | 2015-06-26 | Servo driver of electric locomotive and driving method of electric locomotive |
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| CN201510369551.XA CN104980086A (en) | 2015-06-26 | 2015-06-26 | Servo driver of electric locomotive and driving method of electric locomotive |
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Cited By (1)
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| CN109039165A (en) * | 2017-06-09 | 2018-12-18 | 发那科株式会社 | The electric motor drive system of abnormity detection portion with electrical storage device |
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Application publication date: 20151014 |