CN105763131B - A kind of the power-off synchronous operation method and system of frequency converter - Google Patents
A kind of the power-off synchronous operation method and system of frequency converter Download PDFInfo
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- CN105763131B CN105763131B CN201610201493.4A CN201610201493A CN105763131B CN 105763131 B CN105763131 B CN 105763131B CN 201610201493 A CN201610201493 A CN 201610201493A CN 105763131 B CN105763131 B CN 105763131B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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Abstract
The power-off synchronous operation method and system, method of a kind of frequency converter include：S1, host frequency converter monitor busbar voltage in real time, and are less than preset power-off synchronization value V in busbar voltagellimitWhen, enter step S2；S2, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetCalculate actual deceleration time T*；S3, according to the actual deceleration time T calculated in current running frequency and the S2*The running frequency for adjusting host frequency converter makes busbar voltage stablize in preset target voltage Vtarget；S4, host frequency converter export the running frequency to slave frequency converter when running frequency is more than zero, and the slave Frequency Converter Control running frequency of itself is synchronous with the running frequency of reception, and go to step S2.The present invention realize power-off after automatic lifting busbar voltage and in real time maintenance busbar voltage in target voltage Vtarget, ensure the normal operation of motor, the system of the various load inertias of automatic adaptation, and ensure the synchronism of slave.
Description
Technical field
The present invention relates to a kind of power-off of textile motor field more particularly to frequency converter synchronous operation method and systems.
Background technology
It is each in accident power-off since the load inertia of the motor driving institute band of most of textile industries is all inconsistent
The down time that free-running operation parking is respectively carried out after machine is under-voltage is inconsistent.It is this asynchronous yarn or cloth to be caused to draw
The problems such as disconnected or deformation.
In textile industry, it is the highest synchronous operation mode of requirement that power-off, which synchronizes, mostly uses each machine that allows in industry at present
Device runs the parking mode of identical deceleration time after a loss of power, accomplishes synchronous stopping after power-off.
The method debugging that identical deceleration time is arranged is excessively complicated, because deceleration time parameter is excessive or the too small machine that can allow
Under-voltage or over-pressed, desired value can just be found by needing constantly to debug.And this method is for the system of load variation, when theory is slowed down
Between parameter be not definite value, made of fixed value poor for applicability.
Invention content
The technical problem to be solved in the present invention is, for the drawbacks described above of the prior art, provides a kind of breaking for frequency converter
Electric synchronous operation method and system.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of power-off synchronous operation side of frequency converter
Method, for realizing common bus host frequency converter it is synchronous with the power-off of slave frequency converter shut down, the method includes：
S1, host frequency converter monitor busbar voltage in real time, and are less than preset power-off synchronization value V in busbar voltagellimit
When, enter step S2；
S2, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetIt calculates real
Border deceleration time T*；
S3, according to the actual deceleration time T calculated in current running frequency and the S2*Adjust host frequency converter
Running frequency makes busbar voltage stablize in preset target voltage Vtarget；
S4, host frequency converter export the running frequency to slave frequency converter, slave frequency conversion when running frequency is more than zero
Device controls that the running frequency of itself is synchronous with the running frequency of reception, and go to step S2；
The step S2 includes：
S21, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetIt calculates
To voltage difference Δ V, and using the Δ V as the input of PID controller；
S22, using the output of the PID controller as deceleration time variation delta T, and based on the deceleration time change
Measure Δ T and preset initial deceleration time T0Determine or update actual deceleration time T*。
In the power-off synchronous operation method of frequency converter of the present invention,
T in the step S22*Based on following formula determination or update：T*=T0Δ T,
The model of the PID controller in the step S21 and S22 is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, elected voltage
When as input and time conduct output, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.
In the power-off synchronous operation method of frequency converter of the present invention, the adjustment operation frequency described in the step S3
Rate includes：If sometime tn, the running frequency of host is f1 and the actual deceleration time T updated at this time*For Tn *, step
Preset time in S1 is ts, then in next moment tn+ts, host frequency is f1-f1*ts/Tn *。
In the power-off synchronous operation method of frequency converter of the present invention, host passes through bus communication in the step S4
Or the mode of wireless telecommunications, the running frequency of itself is issued into slave, slave converts the fortune of itself according to the running frequency of reception
Line frequency is run with realizing with host same frequency.
The invention also discloses a kind of power-off synchronous operation systems of frequency converter, for realizing the host frequency converter of common bus
It is synchronous with the power-off of slave frequency converter to shut down,
The host frequency converter includes：
Starting module is less than preset power-off synchronization value V for monitoring busbar voltage in real time, and in busbar voltagellimit
When, the triggered time adjusts module；
Time regulating module, for after being activated module triggering, detecting the real-time voltage V of busbar, according to described real-time
Voltage V and preset target voltage VtargetCalculate actual deceleration time T*；
Frequency regulation block, for according to the actual deceleration time T calculated in current running frequency and the S2*It adjusts
The running frequency of whole host frequency converter makes busbar voltage stablize in preset target voltage Vtarget；
Frequency sending module, for exporting the running frequency to slave frequency converter when the running frequency is more than zero；
The slave includes：
Frequency reception module, the running frequency sent for receiving host；
Frequency synchronization module, the frequency of user's control itself are synchronous with the running frequency of reception；
The time regulating module includes：
Input parameter updating unit, for after being activated module triggering, the real-time voltage V of busbar being detected, according to described
Real-time voltage V and preset target voltage VtargetVoltage difference Δ V is calculated, and using the Δ V as PID controller
Input；
Time adjustment unit is used for using the output of the PID controller as deceleration time variation delta T, and is based on institute
State deceleration time variation delta T and preset initial deceleration time T0Determine or update actual deceleration time T*。
In the power-off synchronous operation system of frequency converter of the present invention,
The T*Based on following formula determination or update：T*=T0-ΔT；
The model of the PID controller is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, elected voltage
When as input and time conduct output, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.
In the power-off synchronous operation system of frequency converter of the present invention, the adjustment running frequency includes：If certain
The running frequency of a moment tn, host are f1 and the actual deceleration time T updated at this time*For Tn *, default in step S1
Time is ts, then in next moment tn+ts, host frequency is f1-f1*ts/Tn *。
In the power-off synchronous operation system of frequency converter of the present invention, the frequency sending module passes through bus communication
Or the mode of wireless telecommunications, the running frequency of itself is issued to the frequency reception module of slave.
The power-off synchronous operation method and system for implementing the frequency converter of the present invention, have the advantages that：The present invention
Actual deceleration time T can be updated according to real-time voltage*, and then running frequency is adjusted again, it is equivalent to the speed that adjustment frequency reduces
Rate, to realize power-off after automatic lifting busbar voltage and in real time maintenance busbar voltage in target voltage Vtarget, ensure motor
Normal operation, the system of the various load inertias of automatic adaptation, debugging are easy；And the running frequency of itself is issued slave by host,
Ensure the synchronism of slave.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing：
Fig. 1 be after busbar power-off busbar voltage caused by the power-off synchronous operation method based on frequency converter of the present invention and
Motor operation frequency changes with time schematic diagram；
Fig. 2 is the flow chart of the power-off synchronous operation method of frequency converter of the present invention.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific implementation mode of the present invention.
It is busbar electricity caused by the power-off synchronous operation method based on frequency converter of the present invention after busbar powers off with reference to figure 1
Pressure and motor operation frequency change with time schematic diagram；
As shown in the figure, in initial period, voltage supply is normal, and busbar voltage is constantly in a stable voltage.
Sometime t1 is powered off suddenly, then busbar voltage falls down.In order to enable busbar voltage maintains a target level, this hair
It is bright be based on decelerating through motor quickly when the principle that can generate electricity, change the geard-down speed of motor in real time by powering off synchronization program,
To ensure that busbar voltage reaches required target voltage Vllimit(the VllimitSlightly larger than busbar normal voltage), that is to say, that from
It moves according to current busbar voltage plan frequency operation curve.
In order to avoid error starting powers off synchronization program, the application provides a value less than busbar normal voltage as startup
The mark for powering off synchronization program, such as the t2 moment corresponding V in figurellimitIt is shown.Although being powered off at the t1 moment,
But it is at the t2 moment really to start power-off synchronization program, which executes always until t3 moment motor stoppings.
Due to starting power-off synchronization program at the t2 moment, so busbar voltage is gone up.It is mainly logical to power off synchronization program
Adjustment frequency variation in real time is crossed to adjust busbar voltage so that busbar voltage maintains a suitable target voltage Vtarget, such as
In figure shown in t2-t3.
Lower mask body introduces the realization process of the present invention.
It is the flow chart of the power-off synchronous operation method of frequency converter of the present invention with reference to figure 2.
The power-off of the frequency converter of the present invention runs simultaneously method：
S1, host frequency converter monitor busbar voltage in real time, and are less than preset power-off synchronization value V in busbar voltagellimit
When, enter step S2；Wherein, VllimitIt is slightly less than the normal voltage of busbar；
S2, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetIt calculates real
Border deceleration time T*；Wherein, VtargetSlightly larger than the normal voltage of busbar；
S3, according to the actual deceleration time T calculated in current running frequency and the S2*Adjust host frequency converter
Running frequency makes busbar voltage stablize in preset target voltage Vtarget；
S4, host frequency converter export the running frequency to slave frequency converter, slave frequency conversion when running frequency is more than zero
Device controls that the running frequency of itself is synchronous with the running frequency of reception, and go to step S2.
Adjusting running frequency includes：If the running frequency of sometime tn, host are f1 and the reality updated at this time
Border deceleration time T*For Tn *If the preset time in step S1 is ts, in next moment tn+ts, host frequency is f1-f1*
ts/Tn *.Actually preset time t s is very short, so what is showed is continuous a frequency change procedure, such as Fig. 1
It is shown.
Wherein, the step S2 includes：
S21, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetIt calculates
To voltage difference Δ V, and using the Δ V as the input of PID controller；
S22, using the output of the PID controller as deceleration time variation delta T, and based on the deceleration time change
Measure Δ T and preset initial deceleration time T0Determine or update actual deceleration time T*。
The model of the PID controller in the step S21 and S22 is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, elected voltage
When as input and time conduct output, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.It needs
It should be noted that when being v using Δ V as its unit when input, the unit of obtained Δ T is s.
Preferably, kp, Ti, Td can be according to circumstances configured before executing step S2.
Wherein, the T* in the step S22 is based on following formula determination or update：T*=T0- Δs T.That is, working as Δ
When V is more than zero, indicate that real-time voltage V is less than target voltage Vtarget, thus according to the variation delta T tune of the deceleration time of output
Whole reduction actual deceleration time T*, being equivalent to reduces geard-down speed, so real-time voltage V can be reduced；When Δ V is less than zero,
Indicate that real-time voltage V is more than target voltage Vtarget, thus according to the variation delta T adjustment increase reality of the deceleration time of output
Deceleration time T*, it is equivalent to and improves geard-down speed, so real-time voltage V can be promoted.
Wherein, host is sent out the running frequency of itself by way of bus communication or wireless telecommunications in the step S4
To slave, slave is converted the running frequency of itself according to the running frequency of reception and is run with host same frequency with realizing.
For example, host and slave can be communicated by modbus, can, naturally it is also possible to wirelessly be connected using bluetooth, WiFi etc.
The mode of connecing communicates.
Substantially, when host powers off synchronization program realization above-mentioned steps by operation, busbar voltage is less than in step sl
Preset power-off synchronization value VllimitWhen, when usually establishing power-off stop sign flag, then executing step S2-S3 according to slowing down
Between variation delta T come adjust frequency converter running frequency in real time；Again simultaneously by power-off stop sign flag and current running frequency
Issue slave；It is that the running frequency of oneself follows host to run by frequency conversion after slave receives power-off stop sign falg,
Until (because of the rate that each frequency converter can be reduced with active control frequency, host frequency converter is according to T for shutdown*Adjustment fortune
Line frequency actually has adjusted the rate of frequency reduction, and the rate that adjustment frequency reduces is common sense in the field, as long as slave
The running frequency that host is informed is received, in conjunction with itself current running frequency, so that it may to determine that the frequency of itself should subtract
Small or increase, and the rate reduced or increased rate).Therefore the present invention realize when power is off host automatically according to working as
Preceding busbar voltage plan frequency operation curve makes busbar maintain certain voltage, and the running frequency of host is transmitted to slave, protects
Card synchronous operation, it is synchronous to stop.
Correspondingly, the invention also discloses a kind of power-off synchronous operation systems of frequency converter, for realizing the master of common bus
Machine frequency converter is synchronous with the power-off of slave frequency converter to shut down.Wherein：
The host frequency converter includes：
Starting module is less than preset power-off synchronization value V for monitoring busbar voltage in real time, and in busbar voltagellimit
When, the triggered time adjusts module；
Time regulating module, for after being activated module triggering, detecting the real-time voltage V of busbar, according to described real-time
Voltage V and preset target voltage VtargetCalculate actual deceleration time T*；
Frequency regulation block, for according to the actual deceleration time T calculated in current running frequency and the S2*It adjusts
The running frequency of whole host frequency converter makes busbar voltage stablize in preset target voltage Vtarget；
Frequency sending module, for exporting the running frequency to slave frequency converter when the running frequency is more than zero；
The slave includes：
Frequency reception module, the running frequency sent for receiving host；
Frequency synchronization module, the frequency of user's control itself are synchronous with the running frequency of reception.
Specifically, the time regulating module includes：
Conditioning unit is more than pre- for after being activated module triggering, detecting the real-time voltage V of busbar in real-time voltage V
If when value, sending trigger signal；
Input parameter updating unit, for after being activated module triggering, the real-time voltage V of busbar being detected, according to described
Real-time voltage V and preset target voltage VtargetVoltage difference Δ V is calculated, and using the Δ V as PID controller
Input；
Time adjustment unit is used for using the output of the PID controller as deceleration time variation delta T, and is based on institute
State deceleration time variation delta T and preset initial deceleration time T0Determine or update actual deceleration time T*。
Wherein, the T*Based on following formula determination or update：T*=T0-ΔT；The model of the PID controller is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, elected voltage
When as input and time conduct output, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.
Specifically, the adjustment running frequency includes：If sometime tn, the running frequency of host is f1 and at this time more
The actual deceleration time T newly obtained*For Tn *, the preset time in step S1 is ts, then in next moment tn+ts, host frequency
For f1-f1*ts/Tn *。
Preferably, the frequency sending module is by way of bus communication or wireless telecommunications, by the running frequency of itself
Issue the frequency reception module of slave.
In conclusion implementing the power-off synchronous operation method and system of the frequency converter of the present invention, have below beneficial to effect
Fruit：The present invention can update actual deceleration time T according to real-time voltage*, and then running frequency is adjusted again, it is equivalent to adjustment frequency
The rate of reduction, to realize power-off after automatic lifting busbar voltage and in real time maintenance busbar voltage in target voltage Vtarget, protect
Demonstrate,prove the normal operation of motor, the system of the various load inertias of automatic adaptation, debugging simplicity；And host sends out the running frequency of itself
To slave, ensure the synchronism of slave.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (8)
1. a kind of power-off of frequency converter runs simultaneously method, powered off for realizing the host frequency converter and slave frequency converter of common bus
It is synchronous to shut down, which is characterized in that the method includes：
S1, host frequency converter monitor busbar voltage in real time, and are less than preset power-off synchronization value V in busbar voltagellimitWhen, into
Enter step S2；
S2, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetCalculating actually subtracts
Fast time T*；
S3, according to the actual deceleration time T calculated in current running frequency and the S2*Adjust the operation of host frequency converter
Frequency makes busbar voltage stablize in preset target voltage Vtarget；
S4, host frequency converter export the running frequency to slave frequency converter, slave frequency converter control when running frequency is more than zero
It is synchronous with the running frequency of reception to make the running frequency of itself, go to step S2；
The step S2 includes：
S21, the real-time voltage V for detecting busbar, according to the real-time voltage V and preset target voltage VtargetElectricity is calculated
Pressure difference Δ V, and using the Δ V as the input of PID controller；
S22, using the output of the PID controller as deceleration time variation delta T, and be based on the deceleration time variation delta
T and preset initial deceleration time T0Determine or update actual deceleration time T*。
2. the power-off of frequency converter according to claim 1 runs simultaneously method, which is characterized in that
T in the step S22*Based on following formula determination or update：T*=T0Δ T,
The model of the PID controller in the step S21 and S22 is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, it is elected use voltage as
It inputs and the time is used as when exporting, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.
3. the power-off of frequency converter according to claim 1 runs simultaneously method, which is characterized in that described in the step S3
Adjustment running frequency include：If sometime tn, the running frequency of host be f1 and update at this time actual deceleration when
Between T*For Tn *, the preset time in step S1 is ts, then in next moment tn+ts, host frequency is f1-f1*ts/Tn *。
4. the power-off of frequency converter according to claim 1 runs simultaneously method, which is characterized in that host in the step S4
By way of bus communication or wireless telecommunications, the running frequency of itself is issued into slave, slave is according to the running frequency of reception
It converts the running frequency of itself and is run with host same frequency with realizing.
5. a kind of power-off synchronous operation system of frequency converter powers off for realizing the host frequency converter and slave frequency converter of common bus
It is synchronous to shut down, which is characterized in that
The host frequency converter includes：
Starting module is less than preset power-off synchronization value V for monitoring busbar voltage in real time, and in busbar voltagellimitWhen, it touches
Send out time regulating module；
Time regulating module, for after being activated module triggering, the real-time voltage V of busbar being detected, according to the real-time voltage V
And preset target voltage VtargetCalculate actual deceleration time T*；
Frequency regulation block, for according to the actual deceleration time T calculated in current running frequency and the S2*Adjustment master
The running frequency of machine frequency converter makes busbar voltage stablize in preset target voltage Vtarget；
Frequency sending module, for exporting the running frequency to slave frequency converter when the running frequency is more than zero；
The slave includes：
Frequency reception module, the running frequency sent for receiving host；
Frequency synchronization module, the frequency of user's control itself are synchronous with the running frequency of reception；
The time regulating module includes：
Input parameter updating unit, for after being activated module triggering, detecting the real-time voltage V of busbar, according to described real-time
Voltage V and preset target voltage VtargetVoltage difference Δ V is calculated, and using the Δ V as the input of PID controller；
Time adjustment unit is used for using the output of the PID controller as deceleration time variation delta T, and is subtracted based on described
Fast time variation amount Δ T and preset initial deceleration time T0Determine or update actual deceleration time T*。
6. the power-off synchronous operation system of frequency converter according to claim 5, which is characterized in that
The T*Based on following formula determination or update：T*=T0-ΔT；
The model of the PID controller is：
U (t)=kp [e (t)+1/Ti ∫ e (t) dt+Td*de (t)/dt]；
E (t)=Δ V=Vtarget-V；
Δ T=u (t)；
Wherein, e (t) is the input of PID controller, the output of u (t) devices in order to control；Kp is proportionality coefficient, it is elected use voltage as
It inputs and the time is used as when exporting, then the unit of kp is s/v；Ti is integration time constant；Td is derivative time constant.
7. the power-off synchronous operation system of frequency converter according to claim 5, which is characterized in that the adjustment operation frequency
Rate includes：If sometime tn, the running frequency of host is f1 and the actual deceleration time T updated at this time*For Tn *, step
Preset time in S1 is ts, then in next moment tn+ts, host frequency is f1-f1*ts/Tn *。
8. the power-off synchronous operation system of frequency converter according to claim 5, which is characterized in that the frequency sending module
By way of bus communication or wireless telecommunications, the running frequency of itself is issued to the frequency reception module of slave.
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| JP6599942B2 (en) | 2017-08-10 | 2019-10-30 | ファナック株式会社 | Motor control device and machine tool system for controlling motor according to voltage drop amount of power supply voltage |
| CN108429506B (en) * | 2018-03-08 | 2020-04-28 | 深圳市海浦蒙特科技有限公司 | Method and device for controlling motor speed reduction by frequency converter |
| CN110954741B (en) * | 2019-10-21 | 2022-03-15 | 国网上海市电力公司 | Voltage interaction synchronous sampling method |
| CN114277469B (en) * | 2021-12-21 | 2022-11-29 | 苏州汇川控制技术有限公司 | Method and apparatus for adjusting end face shape of package, and storage medium |
| CN114629417B (en) * | 2022-05-11 | 2023-06-02 | 深圳库马克科技有限公司 | Control method and control device for frequency converter interference electricity |
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