CN107154755B - High-power permanent magnet synchronous motor braking energy recovery device and control method - Google Patents
High-power permanent magnet synchronous motor braking energy recovery device and control method Download PDFInfo
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- CN107154755B CN107154755B CN201710583164.5A CN201710583164A CN107154755B CN 107154755 B CN107154755 B CN 107154755B CN 201710583164 A CN201710583164 A CN 201710583164A CN 107154755 B CN107154755 B CN 107154755B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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Abstract
The invention discloses a high-power permanent magnet synchronous motor braking energy recovery device which comprises an inversion module, a rectification module, an energy storage module, a bus voltage detection module, a singlechip and a power smoother. The invention also discloses a control method of the high-power permanent magnet synchronous motor braking energy recovery device, wherein the buck chopper circuit and the boost chopper circuit are matched for use, so that the battery energy storage unit is in a reasonable charge and discharge state, the energy generated by braking the permanent magnet synchronous motor can be effectively recovered, the recovered energy is timely compensated when the driving system is under-voltage, and the energy waste caused by braking the high-power permanent magnet synchronous motor is avoided.
Description
Technical Field
The invention relates to the technical field of brushless permanent magnet synchronous motor control, in particular to a high-power permanent magnet synchronous motor braking energy recovery device and a control method.
Background
In the 21 st century, mankind will face more and more serious energy crisis, and energy conservation is a necessary means for continuous development in China and even worldwide. In order to realize the project planning of energy conservation in middle and long term, the national committee for improvement of delivery currently starts ten important energy conservation projects. The energy saving of the motor system is one of the key projects, and the aim of saving is to improve the operation efficiency of the motor system by 2 percent, so that the annual energy saving capacity of 200 hundred million kilowatt-hours is formed. The running efficiency of the motor system can be improved if the kinetic energy of the motor during braking can be recovered well, and the energy recovery technology of the motor is still in an initial stage in China at present.
The permanent magnet synchronous motor is used as a novel electromechanical integrated product, and has been widely applied to the fields of industrial control, aerospace, numerical control machine tools, micro-special processing and the like because of a series of advantages of high efficiency, high power density, good speed regulation performance, simple control and the like. In many practical industrial occasions, the permanent magnet synchronous motor is required to be started and braked frequently, and for the high-power permanent magnet synchronous motor, the high mechanical kinetic energy exists during braking due to inertia, so that the research on how to successfully utilize the kinetic energy is worth going. The braking patterns of ac motors generally have three patterns: energy-consuming braking, reverse braking and energy-feedback braking. At present, more methods in China are to adopt energy consumption braking, and energy is wasted greatly by adding a braking resistor in a braking loop, and for a high-power permanent magnet synchronous motor, the braking resistor may be burnt out due to too high mechanical kinetic energy. The energy generated during motor braking can be handled in two ways: one is to store energy by a large capacity energy storage element that charges and discharges rapidly; one is a high-speed digital signal processing chip to realize feedback, so that energy is fed back to a power grid, and the aim of energy recovery is achieved. The method for directly feeding back energy to the power grid is suitable for potential energy type loads because of the large energy storage device required by the potential energy type loads. Since the power grid has very high requirements for harmonic components, this requires control thereof, and the circuit is relatively complex.
In view of the above, it is particularly important to provide a device and a method for recovering braking energy of a high-power permanent magnet synchronous motor.
Disclosure of Invention
It is an object of the present invention to solve at least the above problems and to provide at least the advantages to be described later.
The invention also aims to provide a high-power permanent magnet synchronous motor braking energy recovery device, which aims at solving the problems that the high-power permanent magnet synchronous motor adopts energy consumption braking to cause energy waste and easily burns braking resistance, effectively controls the transmission of the high-power permanent magnet synchronous motor braking energy from the voltage control perspective, considers the power grid voltage fluctuation, cuts off a bus during braking, recovers braking energy, timely adjusts the bus voltage through the recovered energy after starting, and can effectively avoid the energy waste caused by the high-power permanent magnet synchronous motor adopting energy consumption braking and protect system components; meanwhile, the stability of the bus voltage after the permanent magnet synchronous motor is started can be ensured, and the damage of the power grid fluctuation to the driving system is prevented.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a high-power permanent magnet synchronous motor braking energy recovery apparatus, comprising:
the input end of the inversion module is connected with a power supply, the output end of the inversion module is connected with a stator of a permanent magnet synchronous motor, and a bus capacitor is arranged between direct current buses of the inversion module;
the energy storage module comprises a battery energy storage unit, an end capacitor, a first branch and a second branch, wherein the output positive electrode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch consists of a first normally open relay, a first normally closed relay and a step-down chopper circuit which are sequentially connected, the second branch consists of a second normally open relay, a second normally closed relay and a step-up chopper circuit which are sequentially connected, the output of the two branches is connected on the end capacitor after being connected in parallel, and the input ends of the first normally open relay and the second normally open relay are respectively connected on the output positive electrode end of the battery energy storage unit;
the input end of the rectifying module is connected with the stator of the permanent magnet synchronous motor through a power smoother, and the output end of the rectifying module is connected with the two ends of the end capacitor;
the input end of the bus voltage detection module is connected with the two ends of the bus capacitor and the end capacitor; and
the input end of the singlechip is connected with the output end of the bus voltage detection module, and the output end of the singlechip is respectively connected with the control ends of the inversion module, the energy storage module and the rectification module;
the permanent magnet synchronous motor is provided with an encoder, the output end of the encoder is connected with the input end of the singlechip, the inversion module is connected with the bus capacitor through a third normally-open relay, and the end capacitor is connected with two ends of the bus capacitor through a fourth normally-open relay and a current limiting resistor which are connected in series.
Preferably, the inverter module is formed by connecting three pairs of IGBT bridge arms consisting of a first IGBT, a second IGBT, a third IGBT and a fourth IGBT in sequence, and two sides of the bus capacitor are connected with a power grid through a bridge rectifier; the rectification module is formed by connecting three pairs of IGBT bridge arms consisting of a seventh IGBT and a twelfth IGBT in sequence; and the output end of the singlechip is connected with the driving end of each IGBT.
Preferably, the step-down chopper circuit comprises a thirteenth IGBT, a first inductor and a first diode, wherein the thirteenth IGBT and the first inductor are sequentially connected, the cathode end of the first diode is connected between the thirteenth IGBT and the first inductor, the anode end of the first diode is connected with the negative end of the end capacitor, the thirteenth IGBT is connected with the first normally-closed relay, and the first inductor is connected with the positive end of the end capacitor.
Preferably, the boost chopper circuit comprises a second inductor, a second diode and a fourteenth IGBT, wherein the second inductor and the second diode are sequentially connected, a first end of the fourteenth IGBT is connected between the second inductor and the second diode, a second end of the fourteenth IGBT is connected with a negative end of the end capacitor, the second inductor is connected with the second normally-closed relay, and a cathode of the second diode is connected with a positive end of the end capacitor.
Preferably, the first normally open relay, the first normally closed relay, the second normally open relay and the second normally closed relay form an interlocking device, and the end capacitor is a high-capacity energy storage capacitor.
Preferably, the two ends of the end capacitor are further connected with a primary voltage stabilizing circuit, which comprises a fifth normally open relay, an adjustable inductor, a third diode, a double-arm bridge formed by four triodes and a buffer capacitor connected between the double-arm bridge, wherein the fifth normally open relay is connected with the positive electrode end of the end capacitor, the first end of the double-arm bridge is connected with the cathode end of the third diode, the second end of the double-arm bridge is connected with the negative electrode end of the end capacitor, and the control ends of the triodes are connected with the singlechip.
A control method of a high-power permanent magnet synchronous motor braking energy recovery device comprises the following steps:
step one, when the system is started, disconnecting a third normally-open relay connecting a bus capacitor with an inversion module, disconnecting a fourth normally-open relay connecting the bus capacitor with an end capacitor, and enabling a permanent magnet synchronous motor to be not started, wherein a bus voltage detection module detects bus voltage among the bus capacitors once in each algorithm period, and after 100 periods of detection, a singlechip calculates average bus voltage U dc1avg ；
Closing a third normally open relay, closing a fourth normally open relay, giving out corresponding PWM waves by a singlechip, controlling all IGBTs in a rectifying module to be in an off state, starting a permanent magnet synchronous motor, and detecting real-time bus voltage U between primary bus capacitors by a bus voltage detection module in each algorithm period dc1 Real-time bus voltage U between bus capacitors is judged through singlechip dc1 And the average bus voltage U calculated in the step one dc1avg Size, the real-time bus voltage U is regulated during the operation of the permanent magnet synchronous motor through corresponding relays and IGBT in the energy storage module dc1 The size of the bus voltage U reaches the real-time bus voltage U between bus capacitors during the operation of the permanent magnet synchronous motor dc1 And average bus voltage U dc1avg Dynamic balance between the two, maintaining bus voltage U dc1 Is stable;
and step three, disconnecting the third normally open relay, disconnecting the fourth normally open relay, giving corresponding PWM waves by the singlechip, controlling all IGBTs in the rectifying module to be in an on state, braking the permanent magnet synchronous motor, smoothing braking energy of the permanent magnet synchronous motor through the corresponding relay in the energy storage module and the IGBTs, rectifying the braking energy through the rectifying module, transmitting the braking energy to a large-capacity energy storage end capacitor, and charging the battery energy storage unit by the end capacitor until the permanent magnet synchronous motor stops running.
Preferably, the real-time bus voltage U between the bus capacitors is regulated by corresponding relays and IGBTs in the energy storage module during the operation of the permanent magnet synchronous motor dc1 And average bus voltage U dc1avg Control of inter-dynamic balanceThe preparation method comprises the following steps: when the singlechip detects U dc1 ＜U dc1avg When the bus end of the driving system is undervoltage, the second normally-open relay of the second branch provided by the energy storage module is closed, the second normally-closed relay is still in a closed state, the boost chopper circuit is conducted, the buck chopper circuit is turned off, and the voltage U between the capacitors at the output end is increased by controlling the on-off of the IGBT in the boost chopper circuit through PWM waves dc2 At this time, the voltage U between the capacitors at the end of the energy storage module dc2 Greater than the voltage U between the bus capacitors dc1 The end capacitor discharges to the bus capacitor through the battery energy storage unit, and the battery energy storage unit is in a discharging state until the bus voltage U between the bus capacitors is real-time dc1 And average bus voltage U dc1avg Dynamic balance is carried out between the two parts; when the singlechip detects U dc1 ＞U dc1avg When the bus end of the driving system is overvoltage, a first normally-open relay of a first branch provided in the energy storage module is closed, the first normally-closed relay is still in a closed state, the step-down chopper circuit is conducted, the step-up chopper circuit is turned off, and the IGBT in the step-down chopper circuit is controlled to be turned on or off through PWM waves to reduce the voltage U between capacitors at the output end dc2 At this time, the voltage U between the capacitors at the end of the energy storage module dc2 Less than the voltage U between the bus capacitors dc1 The bus capacitor charges the end capacitor, energy is transmitted to the battery energy storage unit, and the battery energy storage unit is in a charging state until the bus voltage U between the bus capacitors is real-time dc1 And average bus voltage U dc1avg Dynamic balance is carried out between the two parts; wherein the PWM wave is from a closed loop output: real-time bus voltage U between bus capacitors dc1 And average bus voltage U dc1avg The difference is sent to a PI controller, and the PI controller outputs PWM waves for controlling the IGBT.
Preferably, in the third step, the specific control method for charging the battery energy storage unit by using the permanent magnet synchronous motor braking energy is as follows: the first normally-open relay of the first branch provided with the energy storage module is closed, the first normally-closed relay is in a closed state, the step-down chopper circuit is conducted, the step-up chopper circuit is turned off, and the voltage U between capacitors at the output end is reduced by controlling the on-off of IGBT in the step-down chopper circuit through PWM waves dc2 Permanent magnet synchronous motor systemAnd the kinetic energy charges the end capacitor and is further transmitted to the battery energy storage unit, wherein the duty ratio of the PWM waves is in direct proportion to the rotating speed of the permanent magnet synchronous motor after braking.
Preferably, in the second step, when the permanent magnet synchronous motor driving system fails, the third normally open relay is disconnected, the fourth normally open relay is disconnected, the system calls the energy storage module and the rectifying module, the singlechip gives corresponding PWM waves, the on-off of all IGBTs in the rectifying module is controlled, the normal operation of the permanent magnet synchronous motor is continuously ensured through the energy storage in the energy storage module, and the rectifying module serves as an inversion module in the permanent magnet synchronous motor driving system.
The invention at least comprises the following beneficial effects:
1. the high-power permanent magnet synchronous motor braking energy recovery device has the advantages of simple structure, low cost, strong practicability and convenient control, and the buck chopper circuit and the boost chopper circuit are matched for use, so that the battery energy storage unit is in a reasonable charge and discharge state, the power grid resource with volatility can be utilized to the maximum extent, the damage of undervoltage, overvoltage and the like to a permanent magnet synchronous motor driving system is prevented, the energy generated by braking of the permanent magnet synchronous motor can be effectively recovered, the recovery energy can be timely compensated when the driving system is undervoltage, and the normal operation of the permanent magnet synchronous motor can be continuously ensured through the storage energy when the driving system fails;
2. according to the control method of the high-power permanent magnet synchronous motor braking energy recovery device, the specificity of the high-power permanent magnet synchronous motor is considered, braking energy is recovered during braking, bus voltage is timely adjusted through the recovered energy after the high-power permanent magnet synchronous motor is started, the control method is more flexible, and energy waste caused by the fact that the high-power permanent magnet synchronous motor adopts energy consumption braking is effectively avoided.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention;
fig. 2 is a schematic diagram of the structure of the secondary voltage stabilizing circuit.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Example 1
The invention provides a high-power permanent magnet synchronous motor braking energy recovery device, which is shown in fig. 1 and comprises an inversion module 1, a rectification module 2, an energy storage module 3, a bus voltage detection module 4, a singlechip 5 and a power smoother 6.
The input end of the inversion module 1 is connected with a power supply, the output end of the inversion module 1 is connected with a stator of the permanent magnet synchronous motor 7, and a bus capacitor C1 is arranged between direct current buses of the inversion module 1.
The energy storage module 3 comprises a battery energy storage unit, an end capacitor C2, a first branch and a second branch, wherein the output anode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch consists of a first normally-open relay KM11, a first normally-closed relay KM12 and a step-down chopper circuit which are sequentially connected, the second branch consists of a second normally-open relay KM21, a second normally-closed relay KM22 and a step-up chopper circuit which are sequentially connected, the output ends of the two branches are connected in parallel and then are connected with the end capacitor C2, and the input ends of the first normally-open relay KM11 and the second normally-open relay KM21 are respectively connected with the output anode end of the battery energy storage unit.
The input end of the rectifying module 2 is connected with the stator of the permanent magnet synchronous motor 7 through a power smoother 6, the output end of the rectifying module 2 is connected with the two ends of the end capacitor C2, and the power smoother is used for carrying out smoothing treatment on the high-power permanent magnet synchronous motor braking energy and preventing damage to the battery energy storage unit caused by excessive energy fluctuation.
The input end of the bus voltage detection module 4 is connected with two ends of the bus capacitor C1 and the end capacitor C2; the input end of the singlechip 5 is connected with the output end of the bus voltage detection module 4, and the output end of the singlechip 5 is respectively connected with the control ends of the inversion module 1, the energy storage module 3 and the rectification module 2.
The permanent magnet synchronous motor 7 is provided with an encoder, the output end of the encoder is connected with the input end of the singlechip 5, the inverter module 1 is connected with the busbar capacitor C1 through a third normally open relay KM3, and the end capacitor C2 is connected with the two ends of the busbar capacitor C1 through a fourth normally open relay KM4 and a current limiting resistor R which are connected in series.
The step-down chopper circuit is used for reducing the voltage value of the end capacitor, so that the bus capacitor or the high-power permanent magnet synchronous motor can charge the end capacitor by the braking energy, and the battery energy storage unit is in a charging state; the boost chopper circuit is used for boosting the voltage value of the end capacitor, so that the end capacitor discharges to the bus capacitor, and the battery energy storage unit is in a discharge state. And the singlechip is used for carrying out algorithm processing on the input data of the bus voltage detection module to generate corresponding PWM waves to control the on-off of the corresponding IGBT.
The inverter module 1 is formed by connecting three pairs of IGBT bridge arms consisting of a first IGBT1 and a sixth IGBT6 in sequence, and two sides of the bus capacitor C1 are connected with a power grid through a bridge rectifier; the rectifying module 2 is formed by connecting three pairs of IGBT bridge arms consisting of a seventh IGBT7 and a twelfth IGBT12 in sequence; and the output end of the singlechip 5 is connected with the driving end of each IGBT.
The step-down chopper circuit comprises a thirteenth IGBT13, a first inductor Lf1 and a first diode D1, wherein the thirteenth IGBT13 and the first inductor Lf1 are sequentially connected, the cathode end of the first diode D1 is connected between the thirteenth IGBT13 and the first inductor Lf1, the anode end of the first diode D1 is connected to the negative end of the end capacitor C2, the thirteenth IGBT13 is connected to the first normally-closed relay KM12, and the first inductor Lf1 is connected to the positive end of the end capacitor C2; the boost chopper circuit comprises a second inductor Lf2, a second diode and a fourteenth IGBT14, wherein the second inductor Lf2 and the second diode are sequentially connected, the first end of the fourteenth IGBT14 is connected between the second inductor Lf2 and the second diode D2, the second end of the fourteenth IGBT14 is connected with the negative end of the end capacitor C2, the second inductor Lf2 is connected with the second normally-closed relay KM22, and the cathode of the second diode D2 is connected with the positive end of the end capacitor C2.
The output anode of the battery energy storage unit is divided into two branches, and the first branch comprises a first normally-open relay KM11, a first normally-closed relay KM12 and a step-down chopper circuit which are connected in sequence. The second branch comprises a second normally open relay KM21, a second normally closed relay KM22 and a boost chopper circuit which are sequentially connected, the two paths are connected in parallel and then output to be connected with a terminal capacitor C2, the terminal capacitor C2 is a high-capacity energy storage capacitor, and the first normally open relay KM11, the first normally closed relay KM12, the second normally open relay KM21 and the second normally closed relay KM22 form an interlocking device; the input of the bus voltage detection module 4 is connected with a bus capacitor C1 and a terminal capacitor C2, the output end of the bus voltage detection module is connected with a singlechip 5, and the output end of the singlechip 5 is connected with each IGBT drive; the input of the power smoother 6 is connected with the high-power permanent magnet synchronous motor 7; the bus capacitor C1 and the end capacitor C2 are connected with each other through a fourth normally open relay KM4 and two ends of the current-limiting resistor R.
The high-power permanent magnet synchronous motor braking energy recovery device is simple in structure, low in cost, high in practicability and convenient to control, the buck chopper circuit and the boost chopper circuit are matched for use, so that the battery energy storage unit is in a reasonable charging and discharging state, power grid resources with volatility can be utilized to the greatest extent, damage to a permanent magnet synchronous motor driving system caused by undervoltage, overvoltage and the like is prevented, energy generated by braking of the permanent magnet synchronous motor can be effectively recovered, and the energy can be timely compensated through the recovered energy when the driving system is undervoltage. And the normal operation of the permanent magnet synchronous motor can be continuously ensured through the stored energy when the driving system fails.
Example two
On the basis of the first embodiment, two ends of the end capacitor C2 are further connected with a primary voltage stabilizing circuit, as shown in fig. 2, the secondary voltage stabilizing circuit comprises a fifth normally open relay KM5, an adjustable inductor L3, a third diode D3, a double-arm bridge formed by four triodes Q1-Q4 and a buffer capacitor C3 connected between the double-arm bridge, the other end of the fifth normally open relay KM5 is connected with the positive end of the end capacitor C2, the first end of the double-arm bridge is connected with the cathode end of the third diode D3, the second end of the double-arm bridge is connected with the negative end of the end capacitor C2, and the control ends of the triodes are connected with the singlechip 5.
The secondary voltage stabilizing circuit in the embodiment has the advantages of simple structure and low cost, and can effectively control the stability of the voltage on the direct current bus by controlling the on-off of the fifth normally-on relay and each triode to control the charge and discharge process of the slow charge capacitor C3 when the voltage fluctuation on the direct current bus is smaller. When the voltage fluctuation on the direct current bus exceeds a certain range, the direct current bus voltage is stabilized through the energy storage module, so that 2 targeted control modes for inhibiting the direct current bus voltage fluctuation are formed.
Example III
A control method of a high-power permanent magnet synchronous motor braking energy recovery device comprises the following steps:
step one, when the system is started, disconnecting a third normally-open relay KM3 connected with a bus capacitor C1 and an inverter module 1, disconnecting a fourth normally-open relay KM4 connected with a bus capacitor C1 and a terminal capacitor C2, and enabling a permanent magnet synchronous motor 7 to be not started, wherein a bus voltage detection module 4 detects bus voltage among the bus capacitors C1 once in each algorithm period, and after 100 period detection, a singlechip 5 calculates average bus voltage U dc1avg ；
Step two, closing a third normally open relay KM3, closing a fourth normally open relay KM4, giving corresponding PWM waves by a singlechip 5, controlling all IGBTs in a rectifying module 2 to be in an off state, starting a permanent magnet synchronous motor 7, and detecting real-time bus voltage U between primary bus capacitors C1 by a bus voltage detection module 4 in each algorithm period dc1 Real-time bus voltage U between bus capacitors C1 is judged through singlechip 5 dc1 And the average bus voltage U calculated in the step one dc1avg The real-time bus voltage U during the operation of the permanent magnet synchronous motor 7 is regulated by the corresponding relay and IGBT in the energy storage module 3 dc1 To the size of the bus capacitor C1 during the operation of the permanent magnet synchronous motor 7Real-time bus voltage U dc1 And average bus voltage U dc1avg Dynamic balance between the two, maintaining bus voltage U dc1 Is stable;
step three, the third normally open relay KM3 is disconnected, the fourth normally open relay is disconnected, the singlechip 5 gives corresponding PWM waves, all IGBTs in the rectifying module 2 are controlled to be in an on state, the permanent magnet synchronous motor 7 is braked, braking energy of the permanent magnet synchronous motor 7 is sequentially subjected to smoothing treatment by the power smoother 6 and rectification by the rectifying module 2, and is transmitted to the high-capacity energy storage end capacitor C2, and the end capacitor C2 charges the battery energy storage unit until the permanent magnet synchronous motor 7 stops running.
In the second step, the permanent magnet synchronous motor 7 adjusts the real-time bus voltage U between the bus capacitors C1 through the corresponding relay and the IGBT in the energy storage module 3 during operation dc1 And average bus voltage U dc1avg The purpose of the inter-dynamic balance is to prevent damage to a driving system caused by overvoltage and undervoltage due to power grid fluctuation during the operation of the permanent magnet synchronous motor 7, and the specific control method is as follows: when the singlechip 5 detects U dc1 ＜U dc1avg Namely, when the bus end of the driving system is undervoltage, the second normally-open relay of the second branch provided by the energy storage module 3 is closed, the second normally-closed relay is still in a closed state, the boost chopper circuit is conducted, the buck chopper circuit is turned off, and the IGBT in the boost chopper circuit is controlled to be turned on and off through PWM waves to boost the voltage U between the output end capacitor C2 dc2 At this time, the voltage U between the capacitors C2 at the end of the energy storage module 3 dc2 Greater than the voltage U between the bus capacitors C1 dc1 The end capacitor C2 discharges to the bus capacitor C1 through the battery energy storage unit, and the battery energy storage unit is in a discharging state until the bus voltage U between the bus capacitors C1 is real-time dc1 And average bus voltage U dc1avg Dynamic balance is carried out between the two parts; when the singlechip 5 detects U dc1 ＞U dc1avg Namely, when the bus end of the driving system is overvoltage, the first normally open relay KM11 of the first branch provided by the energy storage module 3 is closed, the first normally open relay KM12 is still in a closed state, the step-down chopper circuit is turned on, the step-up chopper circuit is turned off, and the step-down chopper electricity is controlled by PWM wavesIGBT on-off in the road to reduce voltage U between output end capacitor C2 dc2 At this time, the voltage U between the capacitors C2 at the end of the energy storage module 3 dc2 Less than the voltage U between the bus capacitors C1 dc1 The bus capacitor C1 charges the end capacitor C2, energy is transmitted to the battery energy storage unit, and the battery energy storage unit is in a charging state until the bus voltage U between the bus capacitors C1 is real-time dc1 And average bus voltage U dc1avg Dynamic balance is carried out between the two parts; wherein the PWM wave is from a closed loop output: real-time bus voltage U between bus capacitors C1 dc1 And average bus voltage U dc1avg The difference is sent to a PI controller, and the PI controller outputs PWM waves for controlling the IGBT.
In the third step, the specific control method for charging the battery energy storage unit by the braking energy of the permanent magnet synchronous motor 7 is as follows: the first normally open relay KM11 of the first branch provided in the energy storage module 3 is closed, the first normally open relay KM12 is in a closed state, the step-down chopper circuit is turned on, the step-up chopper circuit is turned off, and the voltage U between the capacitors C2 at the output end is reduced by controlling the on-off of the IGBT in the step-down chopper circuit through PWM waves dc2 The braking energy of the permanent magnet synchronous motor 7 charges the end capacitor C2 and is further transmitted to the battery energy storage unit, wherein the PWM wave duty ratio is in a proportional relation with the rotating speed of the permanent magnet synchronous motor 7 after braking, namely the PWM wave duty ratio is given to be reduced along with the reduction of the rotating speed of the permanent magnet synchronous motor 7 after braking.
Further, in the second step, when the driving system of the permanent magnet synchronous motor 7 fails, the third normally open relay KM3 is disconnected, the fourth normally open relay KM4 is disconnected, the system calls the energy storage module 3 and the rectifying module 2, the singlechip 5 gives out corresponding PWM waves, the on-off of all IGBTs in the rectifying module 2 is controlled, the normal operation of the permanent magnet synchronous motor 7 is continuously ensured through the energy storage energy in the energy storage module 3, and the rectifying module 2 serves as the inverting module 1 in the driving system of the permanent magnet synchronous motor 7.
Example IV
On the basis of the third embodiment, the fluctuation of the power grid voltage is further subdivided, and when the singlechip 6 detects that
0.95U dc1avg ＜U dc1 ＜U dc1avg When the bus voltage U is in a normal state, the fifth normally open relay KM5 is closed, the first open relay and the second open relay are opened, the control triodes Q2 and Q4 are closed, the charging capacity and the discharging capacity are buffered, the bus direct current voltage is raised, and the real-time bus voltage U is obtained dc1 Lifting to average bus voltage U dc1avg Real-time bus voltage U dc1 And average bus voltage U dc1avg Dynamic balance between the two. When U is dc1 ＜0.95U dc1avg When the fifth normally open relay KM5 is disconnected, the real-time bus voltage U is obtained by adopting the boost chopper circuit in the energy storage module 1 dc1 Lifting to average bus voltage U dc1avg Real-time bus voltage U dc1 And average bus voltage U dc1avg Dynamic balance between the two. When the singlechip 6 detects 1.05U dc1avg ＞U dc1 ＞U dc1avg When the bus voltage is reduced, the fifth normally open relay KM5 is closed, the first open relay and the second open relay are opened, the control triodes Q1 and Q3 are closed, the buffer capacitor is charged, the bus direct-current voltage is reduced, and the real-time bus voltage U is obtained dc1 Down to average bus voltage U dc1avg Real-time bus voltage U dc1 And average bus voltage U dc1avg Dynamic balance between the two. When the singlechip 6 detects U dc1 ＞1.05U dc1avg When the fifth normally open relay KM5 is disconnected, the step-down chopper circuit in the energy storage module 1 is adopted to carry out real-time bus voltage U dc1 Down to average bus voltage U dc1avg Real-time bus voltage U dc1 And average bus voltage U dc1avg Dynamic balance between the two.
The high-power permanent magnet synchronous motor braking energy recovery device has the advantages of simple structure, low cost, strong practicability, convenient control, and cooperation of the buck chopper circuit and the boost chopper circuit, so that the battery energy storage unit is in a reasonable charge and discharge state, power grid resources with volatility can be utilized to the greatest extent, damage to a permanent magnet synchronous motor driving system caused by undervoltage, overvoltage and the like is prevented, and meanwhile, energy generated by braking of the permanent magnet synchronous motor can be effectively recovered, and the energy can be timely compensated through the recovered energy when the driving system is undervoltage. When the driving system fails, the normal operation of the permanent magnet synchronous motor can be continuously ensured through the stored energy; meanwhile, the control method of the high-power permanent magnet synchronous motor braking energy recovery device provided by the invention takes the particularity of the high-power permanent magnet synchronous motor into consideration, recovers braking energy during braking, timely adjusts bus voltage through the recovered energy after starting, is more flexible, and effectively avoids energy waste caused by adopting energy consumption braking for the high-power permanent magnet synchronous motor.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (9)
1. The utility model provides a high-power permanent magnet synchronous motor braking energy recovery unit which characterized in that includes:
the input end of the inversion module is connected with a power supply, the output end of the inversion module is connected with a stator of a permanent magnet synchronous motor, and a bus capacitor is arranged between direct current buses of the inversion module;
the energy storage module comprises a battery energy storage unit, an end capacitor, a first branch and a second branch, wherein the output positive electrode of the battery energy storage unit is respectively connected with the first branch and the second branch, the first branch consists of a first normally open relay, a first normally closed relay and a step-down chopper circuit which are sequentially connected, the second branch consists of a second normally open relay, a second normally closed relay and a step-up chopper circuit which are sequentially connected, the output of the two branches is connected on the end capacitor after being connected in parallel, and the input ends of the first normally open relay and the second normally open relay are respectively connected on the output positive electrode end of the battery energy storage unit;
the input end of the rectifying module is connected with the stator of the permanent magnet synchronous motor through a power smoother, and the output end of the rectifying module is connected with the two ends of the end capacitor;
the input end of the bus voltage detection module is connected with the two ends of the bus capacitor and the end capacitor; and
the input end of the singlechip is connected with the output end of the bus voltage detection module, and the output end of the singlechip is respectively connected with the control ends of the inversion module, the energy storage module and the rectification module;
the permanent magnet synchronous motor is provided with an encoder, the output end of the encoder is connected with the input end of the singlechip, the inversion module is connected with the bus capacitor through a third normally open relay, and the end capacitor is connected with two ends of the bus capacitor through a fourth normally open relay and a current limiting resistor which are connected in series;
the two ends of the end capacitor are also connected with a primary voltage stabilizing circuit, which comprises a fifth normally open relay, an adjustable inductor, a third diode, a double-arm bridge formed by four triodes and a buffer capacitor connected between the double-arm bridge, wherein the fifth normally open relay is connected with the positive electrode end of the end capacitor, the first end of the double-arm bridge is connected with the cathode end of the third diode, the second end of the double-arm bridge is connected with the negative electrode end of the end capacitor, and the control ends of the triodes are connected with the singlechip; when the voltage fluctuation on the direct current bus is smaller, the charge and discharge process of the buffer capacitor is controlled by controlling the on-off of the fifth normally-on relay and each triode, so that the voltage stability on the direct current bus can be effectively controlled; when the voltage fluctuation on the direct current bus exceeds a certain range, the voltage of the direct current bus is stabilized through the energy storage module.
2. The high-power permanent magnet synchronous motor braking energy recovery device according to claim 1, wherein the inversion module is formed by connecting three pairs of IGBT bridge arms consisting of a first IGBT and a sixth IGBT in sequence, and two sides of the bus capacitor are connected with a power grid through a bridge rectifier; the rectification module is formed by connecting three pairs of IGBT bridge arms consisting of a seventh IGBT and a twelfth IGBT in sequence; and the output end of the singlechip is connected with the driving end of each IGBT.
3. The high-power permanent magnet synchronous motor braking energy recovery device according to claim 2, wherein the step-down chopper circuit comprises a thirteenth IGBT and a first inductor which are sequentially connected, and a first diode with a cathode end connected between the thirteenth IGBT and the first inductor, wherein an anode end of the first diode is connected to a negative end of the end capacitor, the thirteenth IGBT is connected to the first normally-closed relay, and the first inductor is connected to a positive end of the end capacitor.
4. The high power permanent magnet synchronous motor braking energy recovery device according to claim 3, wherein the boost chopper circuit comprises a second inductor and a second diode which are connected in sequence, and a fourteenth IGBT, wherein a first end of the fourteenth IGBT is connected between the second inductor and the second diode, a second end of the fourteenth IGBT is connected with a negative end of the end capacitor, the second inductor is connected with the second normally closed relay, and a cathode of the second diode is connected with a positive end of the end capacitor.
5. The high power permanent magnet synchronous motor braking energy recovery device according to claim 4, wherein the first normally open relay, the first normally closed relay, the second normally open relay and the second normally closed relay form an interlocking device, and the end capacitor is a high-capacity energy storage capacitor.
6. A control method of a high-power permanent magnet synchronous motor braking energy recovery device according to claim 5, comprising the steps of:
step one, when the system is started, disconnecting a third normally-open relay connecting a bus capacitor with an inversion module, disconnecting a fourth normally-open relay connecting the bus capacitor with an end capacitor, and enabling a permanent magnet synchronous motor to be not started, wherein a bus voltage detection module detects bus voltage among the bus capacitors once in each algorithm period, and after 100 periods of detection, a singlechip calculates average bus voltage；
Closing a third normally open relay, closing a fourth normally open relay, giving out corresponding PWM waves by a singlechip, controlling all IGBTs in a rectifying module to be in an off state, starting a permanent magnet synchronous motor, and detecting real-time bus voltage among bus capacitors in each algorithm period by a bus voltage detection moduleJudging real-time bus voltage between bus capacitors through singlechip>And the average bus voltage calculated in step one +.>The size of the bus voltage in real time during the operation of the permanent magnet synchronous motor is regulated by corresponding relays and IGBT in the energy storage module>The size of the bus capacitor reaches the real-time bus voltage +.>And average bus voltage->Dynamic balance between, maintaining bus voltage +.>Is stable;
and step three, disconnecting the third normally open relay, disconnecting the fourth normally open relay KM4, giving corresponding PWM waves by the singlechip, controlling all IGBTs in the rectifying module to be in an on state, braking the permanent magnet synchronous motor, smoothing braking energy of the permanent magnet synchronous motor through the corresponding relay in the energy storage module and the IGBTs, rectifying through the rectifying module, transmitting the braking energy to a large-capacity energy storage end capacitor sequentially, and charging the battery energy storage unit by the end capacitor until the permanent magnet synchronous motor stops running.
7. The method for controlling a high power permanent magnet synchronous motor braking energy recovery device according to claim 6, wherein the real-time bus voltage between the bus capacitors is regulated during operation of the permanent magnet synchronous motor by corresponding relays in the energy storage module and IGBTsAnd average bus voltage->The control method of the dynamic balance between the two parts is as follows: when the singlechip detectsWhen the bus end of the driving system is undervoltage, a second normally-open relay of a second branch of the energy storage module is closed, the second normally-closed relay is still in a closed state, the boost chopper circuit is conducted, the buck chopper circuit is turned off, and the voltage between capacitors at the output end is increased by controlling the on-off of IGBT (insulated gate bipolar transistor) in the boost chopper circuit through PWM (pulse-width modulation) waves>At this time, the voltage between the capacitors at the end of the energy storage module is +.>Is greater than the voltage between the bus capacitors>The end capacitor discharges to the bus capacitor through the battery energy storage unit, and the battery energy storage unit is in a discharging state until real-time bus voltage between the bus capacitors is +.>And average bus voltage->Dynamic balance is carried out between the two parts; when the singlechip detects ++>When the bus end of the driving system is overvoltage, a first normally-open relay of a first branch provided in the energy storage module is closed, the first normally-closed relay is still in a closed state, the step-down chopper circuit is conducted, the step-up chopper circuit is turned off, and the IGBT in the step-down chopper circuit is controlled to be on-off by PWM waves to reduce the voltage between capacitors at the output end>At this time, the voltage between the capacitors at the end of the energy storage module is +.>Less than the voltage between the bus capacitors>The bus capacitor charges the end capacitor, energy is transmitted to the battery energy storage unit, and the battery energy storage unit is in a charging state until real-time bus voltage between the bus capacitors is +.>And average bus voltage->Dynamic balance is carried out between the two parts; wherein the PWM wave is from a closed loop output: real-time bus voltage between bus capacitors>And average bus voltage->The difference is sent to a PI controller, and the PI controller outputs PWM waves for controlling the IGBT.
8. The high power permanent magnet of claim 7The control method of the magnetic synchronous electromechanical braking energy recovery device is characterized in that in the third step, the specific control method for charging the battery energy storage unit by the permanent magnetic synchronous electromechanical braking energy is as follows: the first normally-open relay of the first branch of the energy storage module is closed, the first normally-closed relay is in a closed state, the step-down chopper circuit is conducted, the step-up chopper circuit is turned off, and the voltage between capacitors at the output end is reduced by controlling the on-off of IGBT in the step-down chopper circuit through PWM wavesThe permanent magnet synchronous motor is used for braking energy to charge the end capacitor and further transmitting the end capacitor to the battery energy storage unit, wherein the PWM wave duty ratio is in direct proportion to the rotating speed of the permanent magnet synchronous motor after braking.
9. The control method of the high-power permanent magnet synchronous motor braking energy recovery device according to claim 8, wherein in the second step, when a permanent magnet synchronous motor driving system fails, the third normally open relay is disconnected, the fourth normally open relay is disconnected, the system calls the energy storage module and the rectifying module, the singlechip gives corresponding PWM waves, the on-off of all IGBTs in the rectifying module is controlled, the normal operation of the permanent magnet synchronous motor is continuously ensured through the energy stored in the energy storage module, and the rectifying module serves as an inversion module in the permanent magnet synchronous motor driving system.
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| CN108565942A (en) * | 2018-03-01 | 2018-09-21 | 中电科芜湖钻石飞机制造有限公司 | Driving motor energy recycle device |
| CN110912467A (en) * | 2019-12-13 | 2020-03-24 | 浙江禾川科技股份有限公司 | Motor driving circuit |
| CN112615382A (en) * | 2020-12-15 | 2021-04-06 | 三一汽车制造有限公司 | Vibrating screen energy processing equipment and method and vibrating screen |
| CN114189175A (en) * | 2021-11-25 | 2022-03-15 | 深圳市海浦蒙特科技有限公司 | Energy consumption braking circuit |
| CN114619508A (en) * | 2022-03-25 | 2022-06-14 | 浙江晶盛机电股份有限公司 | Kinetic energy recovery system, cutting equipment and kinetic energy recovery method |
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