CN107005191B - Make the device and method that motor steadily stops - Google Patents
Make the device and method that motor steadily stops Download PDFInfo
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- CN107005191B CN107005191B CN201680003831.1A CN201680003831A CN107005191B CN 107005191 B CN107005191 B CN 107005191B CN 201680003831 A CN201680003831 A CN 201680003831A CN 107005191 B CN107005191 B CN 107005191B
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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
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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
Abstract
A kind of device and method stopping motor steadily.In the method, the first d shaft current reference value (id_ref1), the first q shaft current reference value (iq_ref1) and first synchronous angle (Theta_fed) before stopping motor are set to the initial value of the 2nd d shaft current reference value (id_ref2) stopped for motor, the 2nd q shaft current reference value (iq_ref2) and second synchronous angle (Theta_ref) when stopping motor.And, switched to stop braking mode by normal control mode, d, q axis uses identical pi controller (4 respectively, 5), to, violent curent change and voltage change during preventing motor to stop, stop motor smoothly, without there is a phenomenon where pulsation or motor to reversely rotate and then just stop.
Description
Technical field
The application belongs to motor control technologies field more particularly to one kind and stops motor steadily and be unlikely to stop
Motor reel continues the device and method for rotating or swinging back and forth when only.
Background technique
The method at present stopping motor includes: 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, inverter reduces output by certain slope
Frequency, so that the ac frequency for being applied to motor gradually decreases.In the process, the rotation of the torque of generation and motor
Contrary, in terms of the input terminal of motor, motor does negative work, by the mechanical energy consumed in stopped process feedback outward,
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, close to 0Hz, motor can also rotate without to be stopped at once.
Inverter output direct current method refers to, when using Driven by inverter motor, to stop motor quickly, and inversion
Device is to motor output DC current.When motor also when rotated, inject the straight of certain amplitude to the stator winding of motor
Stream forms direct current stationary magnetic field, and the rotor of rotation cuts this stationary magnetic field and generates braking moment, so that motor be made quickly to stop
Only.Using this method, the stopping of motor can be accelerated, but the size of its braking moment due to D.C. magnetic field intensity and is determined/turned
The angle in sub- magnetic field determines.It is limited by the overcurrent capability of inverter and the tolerance of motor, is applied to the straight of motor
Galvanic electricity stream is limited, and determines that stator DC magnetic field strength is limited.Therefore, the moving loads very big for inertia need
Want sufficiently large fixed/rotor field angle that could generate 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, which refers to, reduces frequency while increasing motor stator magnetic flux density.Due to the increase of magnetic flux,
Bigger braking moment is generated, the stopped process of induction conductivity is accelerated.However bigger stator excitation loss can be also generated, this
Partition losses energy is converted into thermal energy, and motor temperature is caused to increase.Therefore for the occasion frequently braked, flux restraint makes
With being restricted.
Summary of the invention
According to the one aspect of the application, a kind of device (hereinafter referred motor for stopping motor steadily is provided
Stablize arresting stop) comprising: frequency instruction unit is used to respond rotary speed instruction, and generation makes the electrical motors needed for
The corresponding operating frequency of revolving speed；The axial direction and angle controller of normal control are used to be in normal control mode in motor
When, the first q shaft current reference value and the first d shaft current reference value are generated, and estimate the rotor flux of the motor
Real time position is to obtain the first synchronous angle；The axial direction and angle controller of on-position are used to be in braking in motor
When stop mode, the 2nd q shaft current reference value, the 2nd d shaft current reference value and the second synchronous angle are generated；Current reference
It is worth selecting unit, is used for when motor is in normal control mode, by the first q shaft current reference value and described first
D shaft current reference value is exported respectively as final q shaft current reference value and final d shaft current reference value, is also used in motor
When in braking stop mode, using the 2nd q shaft current reference value and the 2nd d shaft current reference value as described
Final q shaft current reference value and the final d shaft current reference value output；Synchronous angle selecting unit, is used in motor
When in normal control mode, is exported the described first synchronous angle as final synchronous angle, be also used 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 after receiving motor and ceasing and desisting order the operating frequency by setting
During slope is gradually reduced and is greater than stop frequency；It brakes stop mode and corresponds to operating frequency and be equal to stop frequency and small
During stop frequency.
According to the another aspect of the application, a kind of side for realizing using aforementioned device and stopping motor steadily is provided
Method.
It is electronic in stopping when stopping motor according to the device and method for stopping motor steadily of the application
The synchronous angle of the first d shaft current reference value, the first q shaft current reference value and first before machine is set to for motor
The initial value of the 2nd d shaft current reference value, the 2nd q shaft current reference value and the second synchronous angle that stop, also, by normal
Control model switchs to stopping braking mode d, q axis and uses identical pi controller respectively, thus, it is therefore prevented that motor stops
Violent curent change and voltage change during only, stop motor smoothly, reversed without pulsation or motor occurs
The phenomenon that then rotation just stops.
Detailed description of the invention
Fig. 1 is that the motor of one embodiment of the application stablizes the structural schematic diagram of arresting stop；
Fig. 2 is a kind of structural schematic diagram of inverter in embodiment illustrated in fig. 1；
Fig. 3 is another structural schematic diagram of inverter in embodiment illustrated in fig. 1；
Fig. 4 is another structural schematic diagram 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 the again another structural schematic diagram of inverter in embodiment illustrated in fig. 1；
Fig. 7 is still another structural schematic diagram of inverter in embodiment illustrated in fig. 1；
Fig. 8 is that the motor of one embodiment of the application stablizes the functional block diagram schematic diagram of arresting stop；
Fig. 9 is to be stablized in method of shutting down according to the motor of one embodiment of the application, when motor normal control is with stopping
Operating frequency, the reference of d shaft current and q shaft current reference change schematic diagram.
Specific embodiment
The application is described in further detail below by specific embodiment combination attached drawing.
The motor that Fig. 1 diagrammatically illustrates one embodiment of the application stablizes the structure of arresting stop 100.In the application one
The motor of embodiment is stablized in arresting stop 100, and the work of motor is related to two modes: normal control mode and braking stop
Only mode.During normal control mode corresponds to electric motor normal working, and make after receiving motor and ceasing and desisting order
Operating frequency is gradually reduced by setting slope but is greater than stop frequency during this；Braking stop mode is reached corresponding to operating frequency
To stop frequency and it is less than stop frequency during this.In other words, after receiving motor and ceasing and desisting order, work as operation
When frequency f_ref is gradually reduced by setting slope and is greater than stop frequency, motor is run by normal control mode；When operation frequency
When rate f_ref reaches stop frequency and is less than stop frequency, motor is by braking stop mode operation.
Referring to Fig.1, it includes three-phase alternating-current supply 18, rectification unit 19, inverter bridge unit that motor, which stablizes arresting stop 100,
20, inverter 22 and motor 21, wherein three-phase alternating-current supply 18 passes through rectification unit 19, converts direct current for AC power source,
Using inverter bridge unit 20, output frequency and amplitude adjustable voltage signal, and then drive motor 21.The embodiment of the present application mentions
The method for stopping motor steadily out is almost realized and is completed in inverter 22, and space vector PWM is passed through
(pulse width modulation, pulse width modulation) unit 6 (see Fig. 7), generates specific pulse train control inversion
Bridge unit 20 stops to be achieved and stablize 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 that is provided by three-phase alternating-current supply 18, and by three received intersections
Galvanic electricity power is converted to direct current power.
Inverter bridge unit 20 receives the direct current power that rectification unit 19 provides, and is then responded by using electric power switch unit
In the pwm signal that inverter 22 generates, and PWM voltage is generated, is frequency and amplitude adjustable voltage.
Motor 21 generates rotating electric (rotat ion by the PWM voltage as provided by inverter bridge unit 20
power).In a kind of embodiment, motor 21 can be induction conductivity；In another embodiment, motor 21 is also possible to
Permasyn morot.The application for motor type with no restrictions.
Inverter 22 is used to generate the pwm signal of drive motor 21.Since inverter 22 is that control motor 21 is stablized
An important factor for stopping, therefore will hereafter give more detailed description to it.
Embodiment 1:
As shown in Fig. 2, the inverter 22 that the motor of the present embodiment is stablized in arresting stop may include: frequency instruction list
Member 1, the axial direction of normal control and angle controller A, the axial direction of on-position and angle controller B, current reference value selection are single
Member 15 with synchronous angle selecting unit 17.
Frequency instruction unit 1 makes electrical motors to the corresponding operating frequency of required revolving speed for responding rotary speed instruction, generation
f_ref。
The axial direction and angle controller A of normal control are used for when motor is in normal control mode, generate the first q axis
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 of normal control may include with angle controller A
Speed PI controller and normal control d shaft current generator, wherein speed PI controller is used to be in normal control in motor
When mode, the first q shaft current reference value iq_ref1 with load matched is generated；Normal control d shaft current generator is used in electricity
When motivation is in normal control mode, the first d shaft current reference value id_ref1 of flux regulator electric current is generated.Here d, q axis are
Reference axis is to be able to obtain the control characteristic of similar direct current generator, a coordinate system is established on rotor, this seat
Mark system rotates synchronously with rotor, and it is q axis perpendicular to rotor field direction, by the mathematical modulo of electrode that taking rotor field direction, which is d axis,
Type is transformed under this coordinate system, it can be achieved that the decoupling of d axis and q axis, thus the characteristic that is well controlled.
The axial direction and angle controller B of on-position are used to generate the 2nd q axis when motor is in braking stop mode
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 and angle controller of on-position may include braking q shaft current generator, braking d shaft current generator and drag angle
Spend integrator.Wherein, braking q shaft current generator is used to generate the 2nd q shaft current when motor is in braking stop mode
Reference value iq_ref 2；It brakes d shaft current generator to be used for when motor is in braking stop mode, generates the 2nd d axis electricity
Flow reference value id_ref2；Angle integrator is braked to be used to accumulate operating frequency when motor is in braking stop mode
Point, generate the second synchronous angle Theta_ref.
Current reference value selecting unit 15 is used for when motor is in normal control mode, and the first q shaft current is referred to
Value and the first d shaft current reference value are respectively as final q shaft current reference value iq_ref and final d shaft current reference value id_ref
Output is also used to when motor is in braking stop mode, by the 2nd q shaft current reference value and the 2nd d shaft current reference value
It is exported respectively as final q shaft current reference value and final d shaft current reference value.
Synchronous angle selecting unit 17 is used for when motor is in normal control mode, using the first synchronous angle as most
Synchronous angle Theta_e output eventually is also used to when motor is in braking stop mode, using the second synchronous angle as final
Synchronous angle output.
According to the present embodiment it is found that when stopping motor, the first d shaft current reference value before stopping motor,
First q shaft current reference value and the first synchronous angle are set to the 2nd d shaft current reference value stopped for motor, the
The initial value of two q shaft current reference values and the second synchronous angle, also, switched to stop braking mode d, q by normal control mode
Axis uses identical pi controller respectively, thus, it is therefore prevented that violent curent change and voltage during motor stopping
Variation, stops motor smoothly, without there is a phenomenon where pulsation or motor to reversely rotate and then just stop.
Embodiment 2:
As shown in figure 3, the motor of the present embodiment stablizes the inverter 22 in arresting stop in addition to the frequency including embodiment 1
Rate command unit 1, the axial direction of normal control and angle controller A, the axial direction of on-position and angle controller B, current reference
Be worth selecting unit 15 with except synchronous angle selecting unit 17, further include q shaft current PI controller 4, d shaft current PI controller 5
With space vector pulse width modulation unit 6.Wherein, q shaft current PI controller 4 is used to generate q according to final q shaft current reference value
Shaft voltage reference value Uq_ref；D shaft current PI controller 5 is used to generate the reference of d shaft voltage according to final d shaft current reference value
Value Ud_ref；Space vector pulse width modulation unit 6 is used for according to q shaft voltage reference value, d shaft voltage reference value and final synchronization
Angle generates the driving pulse sequence for being supplied to the inverter unit 20 for drive motor and for flux observation
Two-phase stationary coordinate system reference voltage U_alfa and U_beta.
Embodiment 3:
As shown in figure 4, the motor of the present embodiment stablizes the inverter 22 in arresting stop in addition to the phase including embodiment 2
It answers outside component, further includes rotor flux angular observation and velocity estimation unit 8, be used for according to two-phase stationary coordinate system with reference to electricity
Electric current i_alfa, i_beta under pressure and two-phase stationary coordinate system estimate the real time position of the 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, mechanical
Axis real-time frequency is fed back to form speed closed loop control with operating frequency.
Embodiment 4:
As shown in figure 5, the motor of the present embodiment stablizes the inverter 22 in arresting stop in addition to the phase including embodiment 3
It answers outside component, further includes: three-phase-two-phase converter unit 7, electric current ias, ibs conversion for the motor 21 for being used to sample
For electric current i_alfa, i_beta under two-phase stationary coordinate system, the electric current is then provided to rotor flux angular observation and speed
Spend estimation unit 8.
Embodiment 5:
As shown in fig. 6, the motor of the present embodiment stablizes the inverter 22 in arresting stop in addition to including previous embodiment
Corresponding assembly outside, further includes: braking q axis initial value setup unit 10, braking d axis initial value setup unit 11 and angle integral
Device initial value setup unit 16.Wherein, braking q axis initial value setup unit 10 is used to be in braking stop mode in motor
When, the first q shaft current reference value is set as to brake the initial value of q shaft current generator；Brake d axis initial value setup unit 11
For the first d shaft current reference value being set as to brake the first of d shaft current generator when motor is in braking stop mode
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 motor of the present embodiment stablizes the inverter 22 in arresting stop in addition to including previous embodiment
Corresponding assembly outside, further includes: rotating coordinate transformation unit 9 is used for according to final synchronous angle, by two-phase stationary coordinate system
Under electric current be converted to electric current id_fed, iq_fed under rotating coordinate system, and then with final d shaft current reference value and final q
Shaft current reference value forms 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, this method comprises:
Frequency instruction unit is provided with response response rotary speed instruction, generation makes electrical motors to the corresponding operation of required revolving speed
Frequency f_ref；
When motor is in normal control mode, the first q shaft current reference value iq_ref1 and the first d shaft current are generated
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 current reference value and the first d shaft current reference value as final q shaft current reference value iq_ref and
Final d shaft current reference value id_ref output is exported the first synchronous angle as final synchronous angle Theta_e；
When motor is in braking stop mode, the 2nd q shaft current reference value iq_ref2, the 2nd d shaft current ginseng are generated
The synchronous angle Theta_ref of value id_ref2 and second is examined, and the 2nd q shaft current reference value and the 2nd d shaft current are referred to
Value is exported respectively as final q shaft current reference value and final d shaft current reference value, using the second synchronous angle as final synchronous
Angle output.
In another embodiment, this method can further include:
According to final q shaft current reference value, q shaft voltage reference value Uq_ref is generated；
According to final d shaft current reference value, d shaft voltage reference value Ud_ref is generated；
According to q shaft voltage reference value, d shaft voltage reference value and finally synchronize angle, generation be supplied to for driving electricity
The driving pulse sequence of the inverter unit 20 of motivation and two-phase stationary coordinate system reference voltage U_ for flux observation
Alfa, U_beta.
In another embodiment, this method can further include: according to two-phase stationary coordinate system reference voltage and two
Electric current i_alfa, i_beta under phase rest frame, estimate the real time position of the rotor flux of motor and the machine of motor
Tool axis real-time frequency f_fed, real time position include the first synchronous angle, mechanical axis real-time frequency fed back with operating frequency shape
At speed closed loop control.
In another another embodiment, this method be can further include: by electric current ias, ibs of the motor sampled
Be converted to the electric current under two-phase stationary coordinate system.
In another embodiment again, this method be can further include:, will when motor is in braking stop mode
First q shaft current reference value is set as braking the initial value of q shaft current generator, and the first d shaft current reference value is set as making
The initial value of dynamic d shaft current generator is set as the first synchronous angle to brake the initial value of angle integrator.
In still further embodiment, this method be 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 current reference value and most
Whole q shaft current reference value forms closed-loop current control.
Motor with above-mentioned construction is described in detail below by way of an example and stablizes arresting stop.Inversion in this example
Device 22 may include frequency instruction unit 1, speed PI controller 2, normal control d shaft current generator 3, q shaft current PI control
Device 4, d shaft current PI controller 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 axis initial value setup unit 10, braking d axis initial value setup unit
11, q shaft current generator 12, braking d shaft current generator 13, braking angle integrator 14, current reference value selection list are braked
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 to the corresponding operation of required revolving speed
Frequency f_ref.
Speed PI controller 2 for (i.e. operating frequency reach stop frequency before) in the normal control mode, generate with
First q shaft current reference value iq_ref1 of load matched.
Normal control d shaft current generator 3 in the normal control mode (i.e. operating frequency reach stop frequency it
Before), generate the first d shaft current reference value id_ref1 of flux regulator electric current.
Q shaft current PI controller 4 is for generating q shaft voltage reference value Uq_ref.
D shaft current PI controller 5 is for generating d shaft voltage reference value Ud_ref.
Space vector PWM unit 6 is used to generate offer according to Ud_ref, Uq_ref and final synchronous angle Theta_e
Driving pulse sequence to actuator unit 20 and the two-phase stationary coordinate system reference voltage U_alfa for flux observation and
U_beta。
Three-phase-two-phase converter unit 7 is used to the electric current ias and ibs of the motor 21 sampled being converted to two-phase static
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 stationary coordinate system
I_alfa and i_beta is converted to electric current id_fed and iq_fed under rotating coordinate system, so with final d shaft current reference value
Id_ref and final q shaft current reference value iq_ref form closed-loop current control.
Rotor flux angular observation and velocity estimation unit 8 be used for according to two-phase stationary coordinate system reference voltage U_alfa,
Electric current i_alfa, i_beta under U_beta and two-phase stationary coordinate system estimate the real time position of motor rotor magnetic linkage, namely
The real-time frequency f_fed of first synchronous angle Theta_fed and motor mechanical axis.The real-time frequency f_fed of motor reel with
Operating frequency f_ref forms speed closed loop control.
Brake q axis initial value setup unit 10, for motor by normal control mode switch to brake stop mode when,
First q shaft current reference value iq_ref1 is set as to brake the initial value of q shaft current generator 12, such as it integrates initial value；
Braking d axis initial value setup unit 11 is used for when motor is switched to brake stop mode by normal control mode,
First d shaft current reference value id_ref1 is set as to brake the initial value of d shaft current generator 13, such as it integrates initial value.
It brakes q shaft current generator 12 to be used to be in braking stop mode in motor, generates the reference of the 2nd q shaft current
Value iq_ref2.
It brakes d shaft current generator 13 to be used to be in braking stop mode in motor, generates the reference of the 2nd d shaft current
Value id_ref2.
It brakes angle integrator 14 to be used to be in braking stop mode in motor, operating frequency f_ref is integrated, is produced
Raw second synchronous angle Theta_ref；
When current reference value selecting unit 15 is in normal control mode for motor, final d shaft current reference value choosing
Select the first d shaft current reference value id_ref1, final q shaft current reference value selects the first q shaft current reference value iq_ref1, and
When motor is in braking stop mode, final d shaft current reference value selects the 2nd d shaft current reference value id_ref2, final q
Shaft current reference value selects the 2nd q shaft current reference value iq_ref2.
Angle integrator initial value setup unit 16 is used to be switched in motor by normal control mode to brake stop mode
When, it is set as the first synchronous angle Theta_fed to brake the initial value of angle integrator 14.
Synchronous angle selecting unit 17 is used for when motor is in normal control mode, final synchronous angle Theta_e
The synchronous angle Theta_fed of selection first, and when motor is in braking stop mode, final synchronous angle Theta_e choosing
Select the second synchronous angle Theta_ref.
According to an embodiment of the present application, the first d axis that (corresponding normal control mode) is exported before stopping motor
Current reference value id_ref1, the first q shaft current reference value iq_ref1, the first synchronous angle Theta_fed are stopping motor
When (corresponding braking stop mode), be set to the 2nd d shaft current reference value id_ref2 stopped for motor, the 2nd q axis
Current reference value iq_ref2, the initial value of the second synchronous angle Theta_ref.Also, stopping system being transferred to by normal control mode
D, q axis use identical PI controller (proportional integral controller, proportional plus integral control when dynamic model formula
Device).Therefore, according to an embodiment of the invention, preventing the violent curent change and voltage change during motor stopping, thus
Stop motor smoothly, without there is a phenomenon where pulsation or motor to reversely rotate and then just stop.
Fig. 9, which is shown, stops motor steadily using what the stable arresting stop of motor of one embodiment of the application was realized
In method only, the view of motor normal control and operating frequency, the reference of d shaft current and q shaft current reference change when stopping
Figure.
For the device for stopping motor steadily of the embodiment of the application one shown in Fig. 8, in conjunction with Fig. 9 it can be seen that
Motor is in normal control mode before the t2 moment, and t2 moment and its later motor are in braking stop mode.Wherein, exist
T1 (correspondence receives motor and ceases and desist order) to t2 (respective operations frequency is equal to stop frequency) moment, inverter 22 are still
It is run by normal control mode, only operating frequency is gradually decreased by the slope of setting, and therefore, the practical t1-t2 stage is use
Frequency reducing method.
Specifically, at the 0-t1 moment, motor 21 is worked normally, and the output of frequency instruction unit 1 makes electrical motors needed for
The corresponding operating frequency f_ref of revolving speed, at this time f_ref=f_run, speed PI controller 2 and normal control d shaft current generator
3 generate 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
15 selection output of member 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 run by normal control mode, final
D, q shaft current reference value and final synchronous angle are respectively the first d axis, q shaft current reference value angle synchronous with first.
At the t2 moment, when operating frequency reaches stop frequency, i.e. f_ref=f_stop brakes q axis initial value setup unit
10 are set as the first q shaft current reference value iq_ref1 to brake the initial value of q shaft current generator 12, and braking d axis initial value is set
First d shaft current reference value id_ref1 is set as braking the initial value of d shaft current generator 13, angle integral by order member 11
Device initial value setup unit 16 is set as the first synchronous angle to brake the initial value of angle integrator 14；After instant t 2,
It brakes q shaft current generator 12 and generates the 2nd q shaft current reference value iq_ref2, braking d shaft current generator 13 generates the 2nd d
Shaft current reference value id_ref2, braking angle integrator 14 generate the second synchronous angle Theta_ref；Current reference value selection
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
Device 22 forms the I/F control system of current closed-loop, frequency open loop, and operating frequency and indirect zero, but by it is smaller tiltedly
Rate is gradually reduced, and to guarantee the good followability of current control, is stopped so can be realized from normal control mode to braking
Mode smoothly switches, and voltage, electric current are without violent shake.
Below with reference to Fig. 8 and Fig. 9, the use aforementioned device described in one embodiment of the application stops motor steadily
In method only, motor by normal control mode to be changed 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 current reference value select the first d axis
Current reference value id_ref1, final q shaft current reference value select the first q shaft current reference value iq_ref1；Synchronous angle Selection
The synchronous angle Theta_fed of the selection of unit 17 first, i.e., the finally synchronous angle Theta_ of synchronous angle Theta_e selection first
fed.Therefore, the double closed-loop control system that closed-loop current control is inner ring, Frequency servo is outer ring is formed.Drive motor
21 stable operations adapt to the variation of load in operating frequency automatically.At this stage, operating frequency size is f_run, d axis electricity
Stream size is id_a, and q shaft current size is iq_a.Wherein, f_run is the running frequency of setting, and id_a is the zero load of motor
Excitation current.For permasyn morot, id_a can be automatic suitable with load during 0, iq_a is motor stable speed operation
The torque current matched.
T1 moment in comparative diagram 9, inverter 22 obtain halt command, and operating frequency is gradually reduced with the slope set,
Control motor frequency and revolving speed are gradually reduced, and are decreased to stop frequency f_stop at the t2 moment, and preferably f_stop can be with
It is set as 3Hz.
At this time (corresponding t2 moment), d axis initial value setup unit 11 is braked by the first d shaft current reference value id_ref1's
Value id_a is set as braking the initial value of d shaft current generator 13, and the value iq_a of the first q shaft current reference value id_ref1 is set
It is set to the initial value of braking q shaft current generator 12；Q axis initial value setup unit 10 is braked by the first q shaft current reference value iq_
Ref1 is set as braking the initial value of q shaft current generator 12；Angle integrator initial value setup unit 16 is by the first synchro angle
The value of degree Theta_fed is set as braking the initial value of angle integrator 14.It brakes d shaft current generator 13 and generates the 2nd d axis
Current reference value id_ref2；It brakes q shaft current generator 12 and generates the 2nd q shaft current reference value iq_ref2；Brake angle product
Divide device 14 to integrate operating frequency f_ref, generates the second synchronous angle Theta_ref.Therefore, electric current and angle will not all occur
Mutation avoids the mutation of output electric current and output voltage, can be realized and smoothly switches from normal control to what braking stopped, 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 value
Id_ref2 and the 2nd q shaft current reference value iq_ref2, i.e., final d shaft current reference value select the 2nd d shaft current reference value id_
Ref2, final q shaft current reference value select the 2nd q shaft current reference value iq_ref2；The synchronous selection of angle selecting unit 17 second
Synchronous angle Theta_ref, i.e., the finally synchronous angle Theta_ref of synchronous angle Theta_e selection second.Therefore, work as operation
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
Guarantee the good followability of current control.D shaft current generator 13 is braked since its initial value id_a, is remained unchanged, with
Maintain the stabilization of excitation current；Q shaft current generator 12 is braked since its initial value iq_a, by fixed slope, is gradually increased,
And reach iq_b 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 integral operation is carried out to operating frequency f_ref, is produced for space vector PWM unit 6
The driving pulse sequence and rotating coordinate transformation unit 9 of raw inverter bridge unit 20 obtain the feedback for closed-loop current control
Electric current id_fed and iq_fed.
In t2 to t3 moment, inverter 22 controls motor and gradually decreases revolving speed, due to defeated with sufficiently large output electric current
The maximum current that electric current can achieve 2 times of motor rated current out or inverter allows, therefore, even for large inertia
Load, or the operating condition rapidly stopped, can also export enough torque makes motor speed steady decrease to operating frequency, and
Significantly consume the rotation function of motor.
Since the kinetic energy in t2 to t3 times when motor has significantly been consumed.Q shaft current generator 12 is braked from iq_b
Start, by fixed slope, is gradually reduced, and reach iq_c at the t4 moment, preferably
Wherein, Idc=(0.5~1.0) × min { Imotor,Iinverter, IinverterFor the rated current of inverter.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 operation, and therefore, Theta_ref is remained unchanged.
Therefore, since the t4 moment, inverter 22 is to motor output DC current, size Idc。
Since the t4 moment, until the t5 moment, inverter 22 is transferred to DC injection braking mode, to consume motor residual
Lesser kinetic energy so that motor can stablize stopping, and is unlikely to continue to rotate or swing back and forth after motor stops.It is preferred that
Ground, t4 to t5 moment can be several hundred milliseconds between several seconds, and depending on the difference of load inertia, inertia is bigger, and the time gets over
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 process and completes.
As it can be seen that can be realized according to the method that the motor of the embodiment of the present application is stablized arresting stop and its is related to from just
It often controls to what braking stopped and smoothly switching, even if can also accomplish steadily to stop for quickly stopping or the load of large inertia
Only, it is unlikely to continue to rotate or swing back and forth after motor stops, while entire stopped process electric current, voltage change are flat
It is sliding, without acutely shake.Also, motor method of shutting down provided by the embodiments of the present application is used, it only need to be in normal control system
On the basis of, several software modules for being able to achieve aforementioned function of increase, which can be realized, stops motor steadily, convenient for engineering
It realizes, without increasing hardware cost.
Use above specific case is illustrated the present invention, is merely used to help understand 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 specific embodiment can be become
Change.
Claims (14)
1. the device that one kind stops motor (21) steadily characterized by comprising
Frequency instruction unit (1), is used to respond rotary speed instruction, and generation makes the electrical motors to the corresponding operation of required revolving speed
Frequency (f_ref)；
The axial direction and angle controller of normal control are used for when motor is in normal control mode, generate the first q axis electricity
Reference value (iq_ref1) and the first d shaft current reference value (id_ref1) are flowed, and estimates the rotor flux of the motor
Real time position to obtain first synchronous angle (Theta_fed)；
The axial direction and angle controller of on-position are used for when motor is in braking stop mode, generate the 2nd q axis electricity
Flow reference value (iq_ref2), the 2nd d shaft current reference value (id_ref2) and second synchronous angle (Theta_ref)；
Current reference value selecting unit (15) is used for when motor is in normal control mode, by the first q shaft current
Reference value and the first d shaft current reference value are joined respectively as final q shaft current reference value (iq_ref) and final d shaft current
Value (id_ref) output is examined, is also used to when motor is in braking stop mode, by the 2nd q shaft current reference value and institute
The 2nd d shaft current reference value is stated to export respectively as the final q shaft current reference value and the final d shaft current reference value；
Synchronous angle selecting unit (17), are used for when motor is in normal control mode, by the described first synchronous angle
It exports, is also used to when motor is in braking stop mode as final synchronous angle (Theta_e), it is synchronous by described second
Angle is as the final synchronous angle output；
Wherein, during normal work of the normal control mode corresponding to motor, and motor stopping life being received
During the operating frequency is gradually reduced by setting slope and is greater than stop frequency after order；It brakes stop mode and corresponds to behaviour
During working frequency is equal to stop frequency and is less than stop frequency.
2. device as described in claim 1, which is characterized in that the axial direction of the normal control includes: with angle controller
Speed PI controller (2) is used for when motor is in normal control mode, generates described first with load matched
Q shaft current reference value；
Normal control d shaft current generator (3) is used for when motor is in normal control mode, generates flux regulator electricity
First d shaft current reference value of stream.
3. device as described in claim 1, which is characterized in that the axial direction of the on-position includes: with angle controller
It brakes q shaft current generator (12), is used to generate the 2nd q axis electricity when motor is in braking stop mode
Flow reference value；
It brakes d shaft current generator (13), is used to generate the 2nd d axis electricity when motor is in braking stop mode
Flow reference value；
It brakes angle integrator (14), is used to accumulate the operating frequency when motor is in braking stop mode
Point, generate the described second synchronous angle.
4. device as described in claim 1, which is characterized in that further include:
Q shaft current PI controller (4) is used to generate q shaft voltage reference value (Uq_ according to the final q shaft current reference value
ref)；
D shaft current PI controller (5) is used to generate d shaft voltage reference value (Ud_ according to the final d shaft current reference value
ref)；
Space vector pulse width modulation unit (6), be used for according to the q shaft voltage reference value, the d shaft voltage reference value and
The final synchronous angle, generate be supplied to inverter unit (20) for driving the motor driving pulse sequence,
And the two-phase stationary coordinate system reference voltage (U_alfa, U_beta) for flux observation.
5. device as claimed in claim 4, which is characterized in that further include:
Rotor flux angular observation and velocity estimation unit (8), be used for according to the two-phase stationary coordinate system reference voltage and
Electric current (i_alfa, i_beta) under two-phase stationary coordinate system 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 formed speed closed loop control.
6. device as claimed in claim 5, which is characterized in that further include:
Three-phase-two-phase converter unit (7), the electric current (ias, ibs) for the motor for being used to sample are converted to described
Electric current under two-phase stationary coordinate system.
7. device as described in claim 1, which is characterized in that the axial direction and angle controller of the on-position include braking
Q shaft current generator, braking d shaft current generator and braking angle integrator；
Further include:
It brakes q axis initial value setup unit (10), is used for when motor is in braking stop mode, by the first q axis
Current reference value is set as the initial value of the braking q shaft current generator；
It brakes d axis initial value setup unit (11), is used for when motor is in braking stop mode, by the first d axis
Current reference value is set as the initial value of the braking d shaft current generator；
Angle integrator initial value setup unit (16) 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 described in claim 1, which is characterized in that further include:
Rotating coordinate transformation unit (9) is used to be turned the electric current under two-phase stationary coordinate system according to the final synchronous angle
The electric current (id_fed, iq_fed) being changed under rotating coordinate system, so with the final d shaft current reference value and the final q
Shaft current reference value forms closed-loop current control.
9. a kind of method for stopping motor steadily characterized by comprising
Frequency instruction unit (1) is provided with response response rotary speed instruction, generation keeps the electrical motors corresponding to required revolving speed
Operating frequency (f_ref)；
When motor is in normal control mode, the first q shaft current reference value (iq_ref1) and the first d shaft current ginseng are generated
Examine value (id_ref1), and estimate the motor rotor flux real time position to obtain the first synchronous angle
(Theta_fed), and it is electric using the first q shaft current reference value and the first d shaft current reference value as final q axis
Reference value (iq_ref) and the output of final d shaft current reference value (id_ref) are flowed, using the described first synchronous angle as final same
Walk angle (Theta_e) output；
When motor is in braking stop mode, the 2nd q shaft current reference value (iq_ref2), the reference of the 2nd d shaft current are generated
It is worth (id_ref2) and second synchronous angle (Theta_ref), and by the 2nd q shaft current reference value and the 2nd d
Shaft current reference value is exported respectively as the final q shaft current reference value and the final d shaft current reference value, by described the
Two synchronous angles are as the final synchronous angle output；
Wherein, during normal work of the normal control mode corresponding to motor, and motor stopping life being received
During the operating frequency is gradually reduced by setting slope and is greater than stop frequency after order；It brakes stop mode and corresponds to behaviour
During working frequency is equal to stop frequency and is less than stop frequency.
10. method as claimed in claim 9, which is characterized in that further include:
According to the final q shaft current reference value, generate q shaft voltage reference value (Uq_ref)；
According to the final d shaft current reference value, generate d shaft voltage reference value (Ud_ref)；
According to the q shaft voltage reference value, the d shaft voltage 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 for the two-phase static coordinate of flux observation
It is reference voltage (U_alfa, U_beta).
11. method as claimed in claim 10, which is characterized in that further include:
According to the electric current (i_alfa, i_beta) under the two-phase stationary coordinate system reference voltage and two-phase stationary coordinate system, push away
The real time position of the rotor flux of the fixed motor and the mechanical axis real-time frequency (f_fed) of the 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, which is characterized in that further include:
The electric current (ias, ibs) of the motor sampled is converted into the electric current under the two-phase stationary coordinate system.
13. method as claimed in claim 9, which is characterized in that the motor includes braking q shaft current generator, braking d
Shaft current generator and braking angle integrator；
Further include:
When motor is in braking stop mode, the first q shaft current reference value is set as the braking q shaft current and is sent out
The first d shaft current reference value is set as the initial value of the braking d shaft current generator, by institute by the initial value of raw device
State the initial value that the first synchronous angle is set as the braking angle integrator.
14. method as claimed in claim 9, which is characterized in that further include:
According to the final synchronous angle, the electric current under two-phase stationary coordinate system is converted to the electric current (id_ under rotating coordinate system
Fed, iq_fed), and then current closed-loop control is formed with the final d shaft current reference value and the final q shaft current reference value
System.
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| 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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| CN107005191B true CN107005191B (en) | 2019-10-11 |
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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 |
| CN110888357B (en) * | 2019-11-22 | 2021-06-29 | 珠海格力智能装备有限公司 | Robot control method and device |
| 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 |
| CN112653357B (en) * | 2020-12-17 | 2022-12-16 | 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 |
| CN113285646B (en) * | 2021-06-17 | 2022-09-06 | 赵炫弟 | Driver brake control method without using external brake unit |
| 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 |
| JP4539224B2 (en) * | 2004-08-17 | 2010-09-08 | 富士電機システムズ株式会社 | Control method of motor drive device |
| CN102684573A (en) * | 2011-03-08 | 2012-09-19 | Ls产电株式会社 | Device and method of stopping induction motor |
| JP5220298B2 (en) * | 2006-10-30 | 2013-06-26 | 三菱電機株式会社 | Voltage type inverter controller |
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| JP4770538B2 (en) * | 2006-03-24 | 2011-09-14 | 株式会社日立製作所 | Electric drive vehicle and control method of electric drive vehicle |
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| JP5807847B2 (en) * | 2013-02-08 | 2015-11-10 | 株式会社デンソー | AC motor control device |
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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 |
| JP4539224B2 (en) * | 2004-08-17 | 2010-09-08 | 富士電機システムズ株式会社 | Control method of motor drive device |
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| CN102684573A (en) * | 2011-03-08 | 2012-09-19 | Ls产电株式会社 | Device and method of stopping induction motor |
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