CN107005191A - Make the apparatus and method that motor stably stops - Google Patents
Make the apparatus and method that motor stably stops Download PDFInfo
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- CN107005191A CN107005191A CN201680003831.1A CN201680003831A CN107005191A CN 107005191 A CN107005191 A CN 107005191A CN 201680003831 A CN201680003831 A CN 201680003831A CN 107005191 A CN107005191 A CN 107005191A
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- shaft currents
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
It is a kind of to make the apparatus and method that motor stably stops.In the method, the synchronous angle (Theta_fed) of the first d shaft currents reference value (id_ref1), the first q shaft currents reference value (iq_ref1) and first before motor is stopped is set to the initial value of the 2nd d shaft currents reference value (id_ref2), the 2nd q shaft currents reference value (iq_ref2) and the second synchronous angle (Theta_ref) stopped for motor when stopping motor.And, switched to stop braking mode by normal control mode, d, q axle use identical pi controller (4 respectively, 5), so as to, the violent curent change and voltage change during motor stopping are prevented, motor is smoothly stopped, without occurring the phenomenon that pulsation or motor are reversely rotated and then just stopped.
Description
Technical field
The application belongs to motor control technologies field, more particularly to one kind makes motor stably stop and is unlikely to stop
Motor reel continues the apparatus and method for rotating or swinging back and forth when only.
Background technology
The method at present stopping motor including：Inverter frequency reducing method, inverter output direct current method and flux restraint
Method.
Inverter frequency reducing method refers to, when using Driven by inverter motor, and inverter is by certain slope reduction output
Frequency so that being applied to the ac frequency of motor gradually reduces.In the process, the torque of generation and the rotation of motor
In the opposite direction, in terms of the input of motor, motor does negative work, by the mechanical energy consumed in stopped process feedback outward,
So as to realize motor failure.Using this method, load or quick stopping occasion for large inertia are strong due to load
Big inertia, even if output frequency is close to 0Hz, motor can also be rotated without to be stopped at once.
Inverter output direct current method refers to, when using Driven by inverter motor, to make motor quickly stop, inversion
Device exports DC current to motor.When motor also when rotated, inject the straight of certain amplitude to the stator winding of motor
Stream, forms direct current stationary magnetic field, the rotor of rotation cuts this stationary magnetic field and produces braking moment, so that motor quickly stops
Only.Using this method, the stopping of motor can be accelerated, but its braking moment size due to D.C. magnetic field intensity and fixed/turn
The angle in sub- magnetic field is determined.The overcurrent capability of inverter and the tolerance of motor are limited by, the straight of motor is applied to
It is limited to flow electric current, and it is limited to determine stator DC magnetic field intensity.Therefore, for inertia very big moving loads, need
Sufficiently large fixed/rotor field angle is wanted to produce sufficiently large braking moment.This means that in stopped process exist
The phenomenon that rotor overshoot is then pulled again, shows as swinging back and forth for motor reel.
Flux restraint method refers to reduce frequency while motor stator magnetic flux density is increased.Due to the increase of magnetic flux,
Bigger braking moment is produced, accelerates the stopped process of induction conductivity.But bigger stator excitation loss can be also produced, this
Partition losses energy is converted into heat energy, causes motor temperature to raise.Therefore for the occasion frequently braked, flux restraint makes
With being restricted.
The content of the invention
According to the one side of the application, there is provided a kind of device (hereinafter referred motor for making motor stably stop
Stable arresting stop), it includes：Frequency instruction unit, it is used to respond rotary speed instruction, and generation makes the electrical motors needed for
The corresponding operating frequency of rotating speed；The axial direction normally controlled and angle controller, it is used to be in normal control mode in motor
When, produce the first q shaft currents reference value and the first d shaft current reference values, and estimate the rotor flux of the motor
Real time position is to obtain the first synchronous angle；The axial direction of on-position and angle controller, it is used to be in braking in motor
During stop mode, the 2nd q shaft currents reference value, the 2nd d shaft currents reference value and the second synchronous angle are produced；Current reference
It is worth selecting unit, it is used for when motor is in normal control mode, by the first q shaft currents reference value and described first
D shaft currents reference value is exported respectively as final q shaft currents reference value and final d shaft currents reference value, is additionally operable in motor
During in braking stop mode, using the 2nd q shaft currents reference value and the 2nd d shaft currents reference value as described
Final q shaft currents reference value and the final d shaft currents reference value output；Synchronous angle selecting unit, it is used in motor
During in normal control mode, the described first synchronous angle is exported as final synchronous angle, is additionally operable to be in motor
When braking stop mode, exported the described second synchronous angle as the final synchronous angle；Wherein, the normal control mould
Formula correspond to motor normal work during, and receive motor cease and desist order after the operating frequency by setting
Slope is gradually reduced and more than during stop frequency；Brake stop mode and be equal to stop frequency and small corresponding to operating frequency
During stop frequency.
Being realized according to the another aspect of the application there is provided a kind of use aforementioned means makes the side that motor stably stops
Method.
The device and method that motor stably stops is made according to the application, it is electronic in stopping when stopping motor
The synchronous angle of the first d shaft currents reference value, the first q shaft currents reference value and first before machine is set to be used for motor
The initial value of the 2nd d shaft currents reference value, the 2nd q shaft currents reference value and the second synchronous angle that stop, also, by normal
Control model switchs to stop braking mode d, q axle respectively using identical pi controller, so that, it is therefore prevented that motor stops
Violent curent change and voltage change during only, make motor smoothly stop, reverse without occurring pulsation or motor
Rotation and then the phenomenon just stopped.
Brief description of the drawings
Fig. 1 is the structural representation of the stable arresting stop of motor of the embodiment of the application one；
Fig. 2 is a kind of structural representation of inverter in embodiment illustrated in fig. 1；
Fig. 3 is another structural representation of inverter in embodiment illustrated in fig. 1；
Fig. 4 is another structural representation of inverter in embodiment illustrated in fig. 1；
Fig. 5 is the yet another construction schematic diagram of inverter in embodiment illustrated in fig. 1；
Fig. 6 is another structural representation again of inverter in embodiment illustrated in fig. 1；
Fig. 7 is still another structural representation of inverter in embodiment illustrated in fig. 1；
Fig. 8 is the functional block diagram schematic diagram of the stable arresting stop of motor of the embodiment of the application one；
Fig. 9 is to be stablized according to the motor of the embodiment of the application one in method of shutting down, when motor is normally controlled and stopped
Operating frequency, the reference of d shaft currents and q shaft current reference change schematic diagrames.
Embodiment
The application is described in further detail below by embodiment combination accompanying drawing.
Fig. 1 diagrammatically illustrates the structure of the stable arresting stop 100 of motor of the embodiment of the application one.In the application one
In the stable arresting stop 100 of the motor of embodiment, the work of motor is related to two patterns：Normal control mode and braking stop
Only pattern.Normal control mode correspond to electric motor normal working during, and receive motor cease and desist order after make
Operating frequency is gradually reduced by setting slope but more than stop frequency during this；Braking stop mode reaches corresponding to operating frequency
To stop frequency and less than stop frequency during this.In other words, receiving after motor ceases and desist order, working as operation
When frequency f_ref is gradually reduced by setting slope and is more than stop frequency, motor is run by normal control mode；When operation frequency
Rate f_ref reaches stop frequency and during less than stop frequency, and motor is by braking stop mode operation.
Reference picture 1, the stable arresting stop 100 of motor includes three-phase alternating-current supply 18, rectification unit 19, inverter bridge unit
20th, inverter 22 and motor 21, wherein, three-phase alternating-current supply 18 passes through rectification unit 19, and AC power is converted into direct current,
Pass through inverter bridge unit 20, output frequency and amplitude adjustable voltage signal, and then drive motor 21 again.The embodiment of the present application is carried
The method for making motor stably stop gone out almost realizes and completion that it passes through space vector PWM in inverter 22
(pulse width modulation, pulse width modulation) unit 6 (see Fig. 7), generates specific pulse train control inversion
Bridge unit 20, so that being achieved makes the stable stopping of motor.
Three-phase alternating-current supply 18 provides three-phase ac power and carrys out drive motor 21.
Rectification unit 19 receives the three-phase ac power provided by three-phase alternating-current supply 18, and received three are intersected
Stream electrical power conversion is direct current power.
Inverter bridge unit 20 receives the direct current power that rectification unit 19 is provided, and is then responded by using electric power switch unit
The pwm signal produced in inverter 22, and PWM voltages are produced, it is frequency and amplitude adjustable voltage.
Motor 21 produces rotating electric (rotat ion by the PWM voltages provided by inverter bridge unit 20
power).In a kind of embodiment, motor 21 can be induction conductivity；In another embodiment, motor 21 can also be
Permasyn morot.The application is not limited for the type of motor.
Inverter 22 is used for the pwm signal for producing drive motor 21.Because inverter 22 is the control stabilization of motor 21
The key factor of stopping, therefore will hereafter give more detailed description to it.
Embodiment 1：
As shown in Fig. 2 the inverter 22 in the stable arresting stop of the motor of the present embodiment can include：Frequency instruction list
Member 1, the axial direction normally controlled and angle controller A, the axial direction of on-position and angle controller B, current reference value selection are single
Member 15 and synchronous angle selecting unit 17.
Frequency instruction unit 1 is used to respond rotary speed instruction, and generation makes electrical motors corresponding operating frequency of rotating speed needed for
f_ref。
The axial direction normally controlled is used to, when motor is in normal control mode, produce the first q axles with angle controller A
Current reference value iq_ref1 and the first d shaft current reference value id_ref1, and estimate the reality of the rotor flux of motor 21
When position to obtain the first synchronous angle Theta_fed.Specifically, the axial direction normally controlled can include with angle controller A
Speed PI controllers and normal control d shaft current generators, wherein, speed PI controllers are used to be in normal control in motor
During pattern, the first q shaft current reference values iq_ref1 with load matched is produced；Normal control d shaft currents generator is used in electricity
When motivation is in normal control mode, the first d shaft current reference values id_ref1 of flux regulator electric current is produced.Here d, q axle are
Reference axis, is able to obtain the control characteristic of similar direct current generator, and a coordinate system is established on rotor, this seat
Mark system and rotor synchronous axial system, it is d axles to take rotor field direction, is q axles perpendicular to rotor field direction, by the mathematical modulo of electrode
Type is transformed under this coordinate system, the decoupling of d axles and q axles can be achieved, so that the characteristic that is well controlled.
The axial direction of on-position is used to, when motor is in braking stop mode, produce the 2nd q axles with angle controller B
Current reference value iq_ref2, the 2nd d shaft current reference value id_ref2 and the second synchronous angle Theta_ref.Specifically,
The axial direction of on-position can include braking q shaft currents generator, braking d shaft currents generator and drag angle with angle controller
Spend integrator.Wherein, braking q shaft currents generator is used to, when motor is in braking stop mode, produce the 2nd q shaft currents
Reference value iq_ref 2；Braking d shaft currents generator is used to, when motor is in braking stop mode, produce the 2nd d axles electricity
Flow reference value id_ref2；Braking angle integrator is used to, when motor is in braking stop mode, accumulate operating frequency
Point, produce the second synchronous angle Theta_ref.
Current reference value selecting unit 15 is used to, when motor is in normal control mode, the first q shaft currents be referred to
Value and the first d shaft currents reference value are respectively as final q shaft currents reference value iq_ref and final d shaft currents reference value id_ref
Output, is additionally operable to when motor is in braking stop mode, by the 2nd q shaft currents reference value and the 2nd d shaft current reference values
Exported respectively as final q shaft currents reference value and final d shaft currents reference value.
Synchronous angle selecting unit 17 is used for when motor is in normal control mode, using the first synchronous angle as most
Synchronization angle Theta_e outputs eventually, are additionally operable to when motor is in braking stop mode, using the second synchronous angle as final
Synchronous angle output.
It can be seen from the present embodiment, stop motor when, stop motor before the first d shaft currents reference value,
The 2nd d shaft currents reference value that first q shaft currents reference value and the first synchronous angle are set to stop for motor, the
The initial value of two q shaft currents reference values and the second synchronous angle, also, stopping braking mode d, q are switched to by normal control mode
Axle uses identical pi controller respectively, so that, it is therefore prevented that violent curent change and voltage during motor stopping
Change, makes motor smoothly stop, without occurring the phenomenon that pulsation or motor are reversely rotated and then just stopped.
Embodiment 2：
As shown in figure 3, the inverter 22 in the stable arresting stop of the motor of the present embodiment is except including the frequency of embodiment 1
Rate command unit 1, the axial direction normally controlled and angle controller A, the axial direction of on-position and angle controller B, current reference
It is worth outside selecting unit 15 and synchronous angle selecting unit 17, in addition to q shaft current PI controllers 4, d shaft current PI controllers 5
With space vector pulse width modulation unit 6.Wherein, q shaft currents PI controllers 4 are used to, according to final q shaft currents reference value, produce q
Shaft voltage reference value Uq_ref；D shaft current PI controllers 5 are used for according to final d shaft currents reference value, produce the reference of d shaft voltages
Value Ud_ref；Space vector pulse width modulation unit 6 is used for according to q shaft voltages reference value, d shaft voltages reference value and final synchronization
Angle, generation is supplied to the driving pulse sequence of the inverter unit 20 for drive motor and for flux observation
Two-phase rest frame reference voltage U_alfa and U_beta.
Embodiment 3：
As shown in figure 4, the inverter 22 in the stable arresting stop of the motor of the present embodiment is except including the phase of embodiment 2
Answer outside component, in addition to rotor flux angular observation and velocity estimation unit 8, it is used for according to two-phase rest frame with reference to electricity
Electric current i_alfa, i_beta under pressure and two-phase rest frame, estimate the real time position of rotor flux of motor and electronic
The mechanical axis real-time frequency f_fed of machine, wherein, the real time position of the rotor flux of motor includes the first synchronous angle, machinery
Axle real-time frequency is fed back to form speed closed loop control with operating frequency.
Embodiment 4：
As shown in figure 5, the inverter 22 in the stable arresting stop of the motor of the present embodiment is except including the phase of embodiment 3
Answer outside component, in addition to：Three-phase-two-phase converter unit 7, it is used for electric current ias, ibs conversion for the motor 21 that will be sampled
For electric current i_alfa, i_beta under two-phase rest frame, then the electric current is provided to rotor flux angular observation and speed
Spend estimation unit 8.
Embodiment 5：
As shown in fig. 6, the inverter 22 in the stable arresting stop of the motor of the present embodiment is except including previous embodiment
Corresponding assembly outside, in addition to：Brake q axle initial values setup unit 10, braking d axle initial values setup unit 11 and angle integration
Device initial value setup unit 16.Wherein, braking q axle initial values setup unit 10 is used to be in braking stop mode in motor
When, the first q shaft current reference values are set as braking to the initial value of q shaft current generators；Brake d axle initial values setup unit 11
For when motor is in braking stop mode, the first d shaft current reference values being set as to brake the first of d shaft current generators
Initial value；Angle integrator initial value setup unit 16 is used for when motor is in braking stop mode, by the first synchronous angle
It is set as braking the initial value of angle integrator.
Embodiment 6：
As shown in fig. 7, the inverter 22 in the stable arresting stop of the motor of the present embodiment is except including previous embodiment
Corresponding assembly outside, in addition to：Rotating coordinate transformation unit 9, it is used for according to final synchronous angle, by two-phase rest frame
Under electric current be converted to electric current id_fed, iq_fed under rotating coordinate system, and then with final d shaft currents reference value and final q
Shaft current reference value formation closed-loop current control.
Based on the various embodiments described above, the application also correspondingly provides a kind of stable method of shutting down of motor, and this method includes：
Frequency instruction unit is provided with response response rotary speed instruction, generation makes electrical motors corresponding operation of rotating speed needed for
Frequency f_ref；
When motor is in normal control mode, the first q shaft current reference value iq_ref1 and the first d shaft currents are produced
Reference value id_ref1, and estimate motor rotor flux real time position to obtain the first synchronous angle Theta_
Fed, and using the first q shaft currents reference value and the first d shaft currents reference value as final q shaft currents reference value iq_ref and
Final d shaft current reference values id_ref outputs, the first synchronous angle is exported as final synchronous angle Theta_e；
When motor is in braking stop mode, the 2nd q shaft current reference values iq_ref2, the 2nd d shaft currents ginseng are produced
The synchronous angle Theta_ref of value id_ref2 and second are examined, and the 2nd q shaft currents reference value and the 2nd d shaft currents are referred to
Value is exported respectively as final q shaft currents reference value and final d shaft currents reference value, regard the second synchronous angle as final synchronization
Angle is exported.
In another embodiment, this method can further include：
According to final q shaft currents reference value, q shaft voltage reference values Uq_ref is produced；
According to final d shaft currents reference value, d shaft voltage reference values Ud_ref is produced；
According to q shaft voltages reference value, d shaft voltages reference value and final synchronous angle, generation is supplied to for driving electricity
The driving pulse sequence of the inverter unit 20 of motivation and the two-phase rest frame reference voltage U_ for flux observation
Alfa, U_beta.
In another embodiment, this method can further include：According to two-phase rest frame reference voltage and two
Electric current i_alfa, i_beta under phase rest frame, estimate the real time position and the machine of motor of the rotor flux of motor
Tool axle real-time frequency f_fed, real time position includes the first synchronous angle, mechanical axis real-time frequency fed back with operating frequency shape
Into speed closed loop control.
In another another embodiment, this method can further include：By electric current ias, ibs of the motor sampled
Be converted to the electric current under two-phase rest frame.
In another embodiment again, this method can further include：, will when motor is in braking stop mode
First q shaft current reference values are set as braking the initial value of q shaft current generators, and the first d shaft current reference values are set as into system
The initial value of dynamic d shaft current generators, the first synchronous angle is set as braking the initial value of angle integrator.
In still further embodiment, this method can further include：According to final synchronous angle, by the static seat of two-phase
Electric current under mark system is converted to electric current id_fed, iq_fed under rotating coordinate system, so with final d shaft currents reference value and most
Whole q shaft currents reference value formation closed-loop current control.
The stable arresting stop of the motor with above-mentioned construction is described in detail below by way of an example.Inversion in this example
Device 22 can include frequency instruction unit 1, speed PI controllers 2, normal control d shaft currents generator 3, q shaft currents PI controls
Device 4, d shaft current PI controllers 5, space vector PWM unit 6, three-phase-two-phase converter unit 7, rotor flux angular observation and speed
Spend estimation unit 8, rotating coordinate transformation unit 9, braking q axle initial values setup unit 10, braking d axle initial value setup units
11st, braking q shaft currents generator 12, braking d shaft currents generator 13, braking angle integrator 14, current reference value selection are single
Member 15, angle integrator initial value setup unit 16 and synchronous angle selecting unit 17.
The effect of frequency instruction unit 1 is in response to rotary speed instruction, and generation makes electrical motors corresponding operation of rotating speed needed for
Frequency f_ref.
Speed PI controllers 2 are used for (i.e. operating frequency reach stop frequency before) in the normal control mode, produce and
First q shaft current reference values iq_ref1 of load matched.
Normal control d shaft currents generator 3 be used in the normal control mode (i.e. operating frequency reach stop frequency it
Before), produce the d shaft current reference values id_ref1 of flux regulator electric current the first.
Q shaft current PI controllers 4 are used to produce q shaft voltage reference values Uq_ref.
D shaft current PI controllers 5 are used to produce d shaft voltage reference values Ud_ref.
Space vector PWM unit 6 is used to, according to Ud_ref, Uq_ref and final synchronous angle Theta_e, produce offer
Driving pulse sequence to actuator unit 20 and the two-phase rest frame reference voltage U_alfa for flux observation and
U_beta。
Three-phase-two-phase converter unit 7 is static for the electric current ias and ibs of the motor 21 sampled to be converted into two-phase
Electric current i_alfa and i_beta under coordinate system.
Rotating coordinate transformation unit 9 is used for according to final synchronous angle Theta_e, by the electric current under two-phase rest frame
I_alfa and i_beta are converted to electric current id_fed and iq_fed under rotating coordinate system, so with final d shaft currents reference value
Id_ref and final q shaft current reference values iq_ref formation closed-loop current controls.
Rotor flux angular observation and velocity estimation unit 8 be used for according to two-phase rest frame reference voltage U_alfa,
Electric current i_alfa, i_beta under U_beta and two-phase rest frame, estimate the real time position of motor rotor magnetic linkage, namely
First synchronization angle Theta_fed and motor mechanical axis real-time frequency f_fed.The real-time frequency f_fed of motor reel with
Operating frequency f_ref formation speed closed loop controls.
Q axle initial values setup unit 10 is braked, for when motor switchs to braking stop mode by normal control mode,
First q shaft current reference values iq_ref1 is set as braking to the initial value of q shaft currents generator 12, for example it integrates initial value；
Braking d axle initial values setup unit 11 is used for when motor switchs to braking stop mode by normal control mode,
First d shaft current reference values id_ref1 is set as braking to the initial value of d shaft currents generator 13, for example it integrates initial value.
Braking q shaft currents generator 12 is used to be in braking stop mode in motor, produces the reference of the 2nd q shaft currents
Value iq_ref2.
Braking d shaft currents generator 13 is used to be in braking stop mode in motor, produces the reference of the 2nd d shaft currents
Value id_ref2.
Braking angle integrator 14 is used to be in braking stop mode in motor, operating frequency f_ref is integrated, production
Raw second synchronous angle Theta_ref；
When current reference value selecting unit 15 is used for motor in normal control mode, final d shaft currents reference value choosing
Select the first d shaft currents reference value id_ref1, final q shaft currents reference value selects the first q shaft current reference value iq_ref1, and
When motor is in braking stop mode, final d shaft currents reference value selects the 2nd d shaft currents reference value id_ref2, final q
Shaft current reference value selects the 2nd q shaft current reference values iq_ref2.
Angle integrator initial value setup unit 16 is used to be switched to brake stop mode by normal control mode in motor
When, the first synchronization angle Theta_fed is set as braking to the initial value of angle integrator 14.
Synchronous angle selecting unit 17 is used for when motor is in normal control mode, final synchronization angle Theta_e
The synchronous angle Theta_fed of selection first, and when motor is in braking stop mode, final synchronization angle Theta_e choosings
Select the second synchronous angle Theta_ref.
According to embodiments herein, the first d axles that (correspondence normal control mode) is exported before motor is stopped
Current reference value id_ref1, the first q shaft currents reference value iq_ref1, the first synchronous angle Theta_fed, are stopping motor
When (correspondence braking stop mode), be set to the 2nd d shaft currents reference value id_ref2 stopped for motor, the 2nd q axles
Current reference value iq_ref2, the second synchronous angle Theta_ref initial value.Also, stopping system being transferred to by normal control mode
D, q axle use identical PI controllers (proportional integral controller, proportional plus integral control during dynamic model formula
Device).Therefore, embodiments in accordance with the present invention, it is therefore prevented that violent curent change and voltage change during motor stopping, so that
Motor is set smoothly to stop, without occurring the phenomenon that pulsation or motor are reversely rotated and then just stopped.
Fig. 9 is shown makes motor stably stop using what the stable arresting stop of motor of the embodiment of the application one was realized
In method only, operating frequency when motor is normally controlled and stopped, the reference of d shaft currents and q shaft current reference changes are regarded
Figure.
Make the device that motor stably stops for the embodiment of the application one shown in Fig. 8, with reference to Fig. 9 it can be seen that：
Motor is in normal control mode before the t2 moment, and t2 moment and its afterwards motor are in braking stop mode.Wherein, exist
At t1 (correspondence receives motor and ceased and desisted order) to t2 (respective operations frequency is equal to stop frequency) moment, inverter 22 is still
Run by normal control mode, simply operating frequency is gradually reduced by the slope of setting, therefore, the t1-t2 stages are actual for use
Frequency reducing method.
Specifically, at the 0-t1 moment, the normal work of motor 21, the output of frequency instruction unit 1 makes electrical motors needed for
The corresponding operating frequency f_ref of rotating speed, now f_ref=f_run, speed PI controllers 2 and normal control d shaft current generators
3 produce the first q shaft current reference value iq_ref1 and the first d shaft current reference value id_ref1 respectively, and current reference value selection is single
The selection output of member 15 is the first q shaft current reference value iq_ref1 and the first d shaft current reference value id_ref1, synchronous angle choosing
That select the selection output of unit 17 is the first synchronous angle Theta_fed；
At t1 moment and t1-t2 moment, it has been observed that inverter 22 is still to be run by normal control mode, final
D, q shaft current reference value and final synchronous angle are respectively the first d axles, q shaft currents reference value and the first synchronous angle.
At the t2 moment, when operating frequency reaches stop frequency, i.e. f_ref=f_stop brakes q axle initial value setup units
First q shaft current reference values iq_ref1 is set as braking the initial value of q shaft currents generator 12 by 10, and braking d axle initial values are set
First d shaft current reference values id_ref1 is set as braking the initial value of d shaft currents generator 13, angle integration by order member 11
First synchronous angle is set as braking the initial value of angle integrator 14 by device initial value setup unit 16；After instant t 2,
Brake q shaft currents generator 12 and produce the 2nd q shaft current reference value iq_ref2, braking d shaft currents generator 13 produces the 2nd d
Shaft current reference value id_ref2, braking angle integrator 14 produces the second synchronous angle Theta_ref；Current reference value is selected
The selection output of unit 15 is the 2nd q shaft current reference value iq_ref2 and the 2nd d shaft current reference value id_ref2, synchronous angle
The selection output of selecting unit 17 is the second synchronous angle Theta_ref, therefore after operating frequency is less than stop frequency, inversion
The formation of device 22 current closed-loop, the I/F control systems of frequency open loop, and operating frequency and indirect zero, but by smaller oblique
Rate is gradually reduced, to ensure the good followability of current control, is stopped so can realize from normal control mode to braking
Pattern takes over seamlessly, and voltage, electric current are without violent shake.
With reference to Fig. 8 and Fig. 9, the use aforementioned means described in the embodiment of the application one make motor stably stop
In method only, motor by normal control mode to be changed into by braking stop mode run to the process of stopping.
Before stop frequency (i.e. stage in Fig. 9 before the t1 moment), current reference value selecting unit 15 selects the first d
Shaft current reference value id_ref1 and the first q shaft current reference value iq_ref1, i.e., final d shaft currents reference value selects the first d axles
Current reference value id_ref1, final q shaft currents reference value selects the first q shaft current reference values iq_ref1；Synchronous angle Selection
The synchronous angle Theta_fed of the selection of unit 17 first, the i.e. synchronous angle Theta_ of final synchronous angle Theta_e selections first
fed.Therefore, the double closed-loop control system that closed-loop current control is inner ring, Frequency servo is outer shroud is formed.Drive motor
21 stable operations adapt to the change of load automatically in operating frequency.In the stage, operating frequency size is f_run, d axles electricity
Stream size is id_a, and q shaft currents size is iq_a.Wherein, f_run is the running frequency of setting, and id_a is the zero load of motor
Exciting curent.For permasyn morot, id_a can be automatic suitable with load during 0, iq_a is motor stable speed operation
The torque current matched somebody with somebody.
T1 moment in compares figure 9, inverter 22 obtains halt command, and operating frequency is gradually reduced with the slope set,
Control motor frequency and rotating speed are gradually reduced, and are decreased at the t2 moment stop frequency f_stop, and preferably f_stop can be with
It is set as 3Hz.
Now (correspondence t2 moment), braking d axle initial values setup unit 11 is by the first d shaft current reference values id_ref1's
Value id_a is set as braking the initial value of d shaft currents generator 13, and the first q shaft current reference values id_ref1 value iq_a is set
It is set to the initial value of braking q shaft currents generator 12；Q axle initial values setup unit 10 is braked by the first q shaft current reference values iq_
Ref1 is set as braking the initial value of q shaft currents generator 12；Angle integrator initial value setup unit 16 is by the first synchro angle
Degree Theta_fed value is set as braking the initial value of angle integrator 14.Brake d shaft currents generator 13 and produce the 2nd d axles
Current reference value id_ref2；Brake q shaft currents generator 12 and produce the 2nd q shaft current reference values iq_ref2；Brake angle product
Divide device 14 to integrate operating frequency f_ref, produce the second synchronous angle Theta_ref.Therefore, electric current and angle are all without generation
Mutation, it is to avoid the mutation of output current and output voltage, can be realized from normal control to taking over seamlessly that braking stops, electricity
Stream, voltage are without violent shake.
When motor is in braking stop mode, current reference value selecting unit 15 selects the 2nd d shaft current reference values
Id_ref2 and the 2nd q shaft current reference value iq_ref2, i.e., final d shaft currents reference value selects the 2nd d shaft current reference values id_
Ref2, final q shaft currents reference value selects the 2nd q shaft current reference values iq_ref2；The synchronous selection of angle selecting unit 17 second
Synchronous angle Theta_ref, the i.e. synchronous angle Theta_ref of final synchronous angle Theta_e selections second.Therefore, operation is worked as
Frequency be less than stop frequency after (i.e. from after the t2 moment), inverter 22 formed current closed-loop, frequency open loop I/F (electric current/
Frequency) control system.
After instant t 2, inverter 22 is transferred to stopping braking mode, and operating frequency is gradually reduced by smaller slope, with
Ensure the good followability of current control.D shaft currents generator 13 is braked since its initial value id_a, keeps constant, with
Maintain the stabilization of exciting curent；Q shaft currents generator 12 is braked since its initial value iq_a, by fixed slope, is gradually increased,
And iq_b is reached at the t3 moment, preferably
Wherein, ImotorFor motor rated current, Iinverter_maxThe maximum current allowed for inverter；Second synchro angle
Theta_ref is spent since its initial value, and computing is integrated to operating frequency f_ref, produced for space vector PWM unit 6
The driving pulse sequence of raw inverter bridge unit 20, and rotating coordinate transformation unit 9 obtain the feedback for closed-loop current control
Electric current id_fed and iq_fed.
In t2 to t3 moment, inverter 22 is with sufficiently large output current, and control motor gradually reduces rotating speed, due to defeated
Go out the maximum current that electric current can reach that 2 times of motor rated current or inverter allow, therefore, even for large inertia
Load, or the operating mode rapidly stopped, can also export enough torque makes motor speed steady decrease to operating frequency, and
Significantly consume the rotation function of motor.
Due to significantly being consumed in t2 to t3 times when motor kinetic energy.Q shaft currents generator 12 is braked from iq_b
Start, by fixed slope, be gradually reduced, and iq_c is reached at the t4 moment, preferably
Wherein, Idc=(0.5~1.0) × min { Imotor,Iinverter, IinverterFor the rated current of inverter.So as to,
Avoid inverter overheating caused by output high current for a long time.Meanwhile, operating frequency f_ref is decreased to 0, the second synchronous angle
Theta_ref is obtained to doing f_ref integral operationes, therefore, and Theta_ref keeps constant.
Therefore, since the t4 moment, inverter 22 exports DC current to motor, and its size is Idc。
Since the t4 moment, untill the t5 moment, inverter 22 is transferred to DC injection braking pattern, to consume motor residual
Less kinetic energy, stops so that motor can be stablized, and is unlikely to continue to rotate or swing back and forth after motor stops.It is preferred that
Ground, t4, can be between hundreds of milliseconds to several seconds, depending on the difference of load inertia, inertia be bigger, and the time gets over to the t5 moment
Long, inertia is smaller, and the time is shorter.
To the t5 moment, inverter 22 closes the driving pulse sequence to inverter bridge unit 20, stops braking procedure and completes.
It can be seen that, the stable arresting stop of motor and its method being related to according to the embodiment of the present application can be realized from just
Normal control is to taking over seamlessly that braking stops, even if for quick stopping or the load of large inertia, can also accomplish stably to stop
Only, it is unlikely to continue to rotate or swing back and forth after motor stops, while whole stopped process electric current, voltage change are put down
It is sliding, without acutely shake.Also, the motor method of shutting down provided using the embodiment of the present application, only need to be in normal control system
On the basis of, increase is some to realize that the software module of foregoing function can be achieved to make motor stably stop, and be easy to engineering
Realize, without increasing hardware cost.
Use above specific case is illustrated to the present invention, is only intended to help and is understood the present invention not to limit
The present invention.For those of ordinary skill in the art, according to the thought of the present invention, above-mentioned embodiment can be become
Change.
Claims (14)
1. one kind makes the device that motor (21) stably stops, it is characterised in that including：
Frequency instruction unit (1), it is used to respond rotary speed instruction, and generation makes the electrical motors corresponding operation of rotating speed needed for
Frequency (f_ref)；
The axial direction normally controlled and angle controller, it is used to, when motor is in normal control mode, produce the first q axles electricity
Reference value (iq_ref1) and the first d shaft currents reference value (id_ref1) are flowed, and estimates the rotor flux of the motor
Real time position to obtain the first synchronous angle (Theta_fed)；
The axial direction of on-position and angle controller, it is used to, when motor is in braking stop mode, produce the 2nd q axles electricity
Flow reference value (iq_ref2), the 2nd d shaft currents reference value (id_ref2) and the second synchronous angle (Theta_ref)；
Current reference value selecting unit (15), it is used for when motor is in normal control mode, by the first q shaft currents
Reference value and the first d shaft currents reference value are joined respectively as final q shaft currents reference value (iq_ref) and final d shaft currents
Value (id_ref) output is examined, is additionally operable to when motor is in braking stop mode, by the 2nd q shaft currents reference value and institute
The 2nd d shaft currents reference value is stated to export respectively as the final q shaft currents reference value and the final d shaft currents reference value；
Synchronous angle selecting unit (17), it is used for when motor is in normal control mode, by the described first synchronous angle
Export, be additionally operable to when motor is in braking stop mode as final synchronous angle (Theta_e), it is synchronous by described second
Angle is exported as the final synchronous angle；
Wherein, during the normal control mode corresponds to the normal work of motor, and motor stopping life being received
The operating frequency is gradually reduced by setting slope and more than during stop frequency after order；Brake stop mode and correspond to behaviour
During working frequency is equal to stop frequency and less than stop frequency.
2. device as claimed in claim 1, it is characterised in that the axial direction normally controlled includes with angle controller：
Speed PI controllers (2), it is used to, when motor is in normal control mode, produce described first with load matched
Q shaft current reference values；
Normal control d shaft currents generator (3), it is used to, when motor is in normal control mode, produce flux regulator electricity
First d shaft current reference values of stream.
3. device as claimed in claim 1, it is characterised in that the axial direction of the on-position includes with angle controller：
Q shaft currents generator (12) is braked, it is used to, when motor is in braking stop mode, produce the 2nd q axles electricity
Flow reference value；
D shaft currents generator (13) is braked, it is used to, when motor is in braking stop mode, produce the 2nd d axles electricity
Flow reference value；
Angle integrator (14) is braked, it is used to, when motor is in braking stop mode, accumulate the operating frequency
Point, produce the described second synchronous angle.
4. device as claimed in claim 1, it is characterised in that also include：
Q shaft current PI controllers (4), it is used to, according to the final q shaft currents reference value, produce q shaft voltage reference values (Uq_
ref)；
D shaft current PI controllers (5), it is used to, according to the final d shaft currents reference value, produce d shaft voltage reference values (Ud_
ref)；
Space vector pulse width modulation unit (6), its be used for according to the q shaft voltages reference value, the d shaft voltages reference value and
The final synchronous angle, produce be supplied to the inverter unit (20) for driving the motor driving pulse sequence,
And the two-phase rest frame reference voltage (U_alfa, U_beta) for flux observation.
5. device as claimed in claim 4, it is characterised in that also include：
Rotor flux angular observation and velocity estimation unit (8), its be used for according to the two-phase rest frame reference voltage and
Electric current (i_alfa, i_beta) under two-phase rest frame, estimates real time position and the institute of the rotor flux of the motor
The mechanical axis real-time frequency (f_fed) of motor is stated, the real time position includes the described first synchronous angle, and the mechanical axis is real
When frequency fed back with the operating frequency formation speed closed loop control.
6. device as claimed in claim 5, it is characterised in that also include：
Three-phase-two-phase converter unit (7), its electric current (ias, ibs) for being used for the motor that will be sampled is converted to described
Electric current under two-phase rest frame.
7. device as claimed in claim 1, it is characterised in that also include：
Q axle initial value setup units (10) are braked, it is used for when motor is in braking stop mode, by the first q axles
Current reference value is set as the initial value of the braking q shaft current generators；
D axle initial value setup units (11) are braked, it is used for when motor is in braking stop mode, by the first d axles
Current reference value is set as the initial value of the braking d shaft current generators；
Angle integrator initial value setup unit (16), it is used for when motor is in braking stop mode, by described first
Synchronous angle is set as the initial value of the braking angle integrator.
8. device as claimed in claim 1, it is characterised in that also include：
Rotating coordinate transformation unit (9), it is used for according to the final synchronous angle, by the electricity under the two-phase rest frame
Circulation is changed to electric current (id_fed, iq_fed) under rotating coordinate system, so with the final d shaft currents reference value and it is described most
Whole q shaft currents reference value formation closed-loop current control.
9. a kind of make the method that motor stably stops, it is characterised in that including：
Frequency instruction unit (1) is provided with response response rotary speed instruction, generation makes electrical motors rotating speed needed for corresponding
Operating frequency (f_ref)；
When motor is in normal control mode, the first q shaft currents reference value (iq_ref1) and the first d shaft currents ginseng are produced
Examine value (id_ref1), and estimate the motor rotor flux real time position to obtain the first synchronous angle
(Theta_fed) it is, and electric using the first q shaft currents reference value and the first d shaft currents reference value as final q axles
Flow reference value (iq_ref) and final d shaft currents reference value (id_ref) export, will the described first synchronous angle as finally together
Walk angle (Theta_e) output；
When motor is in braking stop mode, the 2nd q shaft currents reference value (iq_ref2), the reference of the 2nd d shaft currents are produced
It is worth (id_ref2) and the second synchronous angle (Theta_ref), and by the 2nd q shaft currents reference value and the 2nd d
Shaft current reference value is exported respectively as the final q shaft currents reference value and the final d shaft currents reference value, by described the
Two synchronous angles are exported as the final synchronous angle；
Wherein, during the normal control mode corresponds to the normal work of motor, and motor stopping life being received
The operating frequency is gradually reduced by setting slope and more than during stop frequency after order；Brake stop mode and correspond to behaviour
During working frequency is equal to stop frequency and less than stop frequency.
10. method as claimed in claim 9, it is characterised in that also include：
According to the final q shaft currents reference value, q shaft voltages reference value (Uq_ref) is produced；
According to the final d shaft currents reference value, d shaft voltages reference value (Ud_ref) is produced；
According to the q shaft voltages reference value, the d shaft voltages reference value and the final synchronous angle, generation is supplied to use
In the driving pulse sequence for the inverter unit (20) for driving the motor and two-phase static coordinate for flux observation
It is reference voltage (U_alfa, U_beta).
11. method as claimed in claim 10, it is characterised in that also include：
According to the electric current (i_alfa, i_beta) under the two-phase rest frame reference voltage and two-phase rest frame, push away
The real time position and the mechanical axis real-time frequency (f_fed) of the motor of the rotor flux of the fixed motor, it is described real-time
Position includes the described first synchronous angle, and the mechanical axis real-time frequency is fed back to form speed closed loop with the operating frequency
Control.
12. method as claimed in claim 11, it is characterised in that also include：
The electric current (ias, ibs) of the motor sampled is converted to the electric current under the two-phase rest frame.
13. method as claimed in claim 9, it is characterised in that also include：
When motor is in braking stop mode, the first q shaft current reference values are set as that the braking q shaft currents are sent out
The initial value of raw device, the first d shaft current reference values is set as the initial value of the braking d shaft current generators, by institute
State the initial value that the first synchronous angle is set as the braking angle integrator.
14. method as claimed in claim 9, it is characterised in that also include：
According to the final synchronous angle, the electric current under the two-phase rest frame is converted into the electric current under rotating coordinate system
(id_fed, iq_fed), and then closed with the final d shaft currents reference value and the final q shaft currents reference value formation electric current
Ring is controlled.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/086157 WO2017214972A1 (en) | 2016-06-17 | 2016-06-17 | Device and method for stably stopping motor |
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| CN107005191A true CN107005191A (en) | 2017-08-01 |
| CN107005191B CN107005191B (en) | 2019-10-11 |
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| WO (1) | WO2017214972A1 (en) |
Cited By (4)
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| CN109639188A (en) * | 2018-12-03 | 2019-04-16 | 四川虹美智能科技有限公司 | A kind of the motor stopping method and controller of washing machine |
| CN110888357A (en) * | 2019-11-22 | 2020-03-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN112653357A (en) * | 2020-12-17 | 2021-04-13 | 珠海格力电器股份有限公司 | Control method and device for self-starting synchronous motor, storage medium and processor |
| CN113285646A (en) * | 2021-06-17 | 2021-08-20 | 赵炫弟 | Driver brake control method without using external brake unit |
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| CN110989610A (en) * | 2019-12-13 | 2020-04-10 | 北京云迹科技有限公司 | Method for preventing robot from sliding down slope and robot |
| CN115085610B (en) * | 2022-08-22 | 2022-12-09 | 深圳市好盈科技股份有限公司 | Linear brake control method and device applied to competition-level remote control model car |
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| CN1285652A (en) * | 1999-08-18 | 2001-02-28 | 约阿希姆·霍尔兹 | Method for braking vector controlled induction motor, controller and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107005191B (en) | 2019-10-11 |
| WO2017214972A1 (en) | 2017-12-21 |
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