CN107276457A - A kind of soft-starter of asynchronous motor and its control method - Google Patents
A kind of soft-starter of asynchronous motor and its control method Download PDFInfo
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- CN107276457A CN107276457A CN201710579207.2A CN201710579207A CN107276457A CN 107276457 A CN107276457 A CN 107276457A CN 201710579207 A CN201710579207 A CN 201710579207A CN 107276457 A CN107276457 A CN 107276457A
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
- H02P1/28—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor by progressive increase of voltage applied to primary circuit of motor
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- Engineering & Computer Science (AREA)
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- Motor And Converter Starters (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A kind of soft-starter of asynchronous motor and its control method, actual current signal is compared with the maximum current value that default motor allows to controller by output by current detection circuit, through calculation process output control signal, the synchronous voltage signal and control signal that voltage zero-crossing detection circuit is gathered from grid line voltage are input in No. six trigger generators and produce trigger pulse, trigger pulse is by controlling three-phase thyristor regulating circuit, real-time controlled motor input voltage, so as to the starting current of real-time controlled motor so that motor can smoothly start.It has technical effect that：1. high-speed, high precision control is especially realized in adverse circumstances with preferable Control platform, and with good antijamming capability.2. applying Auto Disturbances Rejection Control Technique, transient process short the characteristics of small with overshoot is adapted to the change of object model and surrounding environment in very large range, and does not influence the Control platform of controller, with good robustness.
Description
Technical field
The present invention is a kind of soft-starter of asynchronous motor and its control method, is particularly a kind of by Auto Disturbances Rejection Control Technique
Applied to a kind of New-type electric machine soft initiator in controller, it belongs to a kind of more advanced in asynchronous motor start-up course
Soft initiator.
Background technology
Promoted as industrialization and urbanization progress is continuous, economy and society deepens continuously development, energy shortage and environment
Common difficulty of the pollution as current facing mankind.
In recent years, with expanding economy, our requirement more and more highers to product, high-quality product needs higher
How production technology, make equipment in the case of efficiency optimization, can be operated under more steady smooth environment, turn into gradually
People's question of common concern.
Asynchronous motor is as most popular motor, because possessing simple in construction, cheap, sturdy and durable, system
Make conveniently, seldom need to safeguard and can continuous service in the presence of a harsh environment advantage, in daily life, especially industrial production
It is widely used in a variety of applications, is the main consumer of electric energy.Currently, most of industry dragging is all asynchronous motor, and status shows
Write.However, the starting characteristic of motor is but undesirable always, all there is many in the starting of conventional motors and stopping mode of braking
Defect.It is well known that the starting current of motor is usually 4-8 times of rated current, 15 times of rated current are reached as high as, this
The service life of enormous impact, influence motor and its driven equipment is all caused to power network, load machinery and motor, can be caused
Line voltage bust, directly affects the normal work of other electrical equipments in power network.So big electric current not only has aggravated
The load of line, power supply grid and the device for switching before motor, and the huge torque shock ends meeting again occurred simultaneously
Make motor send fierce rushing to shake, and also to the auxiliary equipment (such as V belt, gear) with the transmission that is used as power
Inevitable mechanical shock is brought with the plant equipment of acting.So, the startability of motor is to energy conservation and society
Expanding economy has very important significance.
The content of the invention
Goal of the invention：It is to provide a kind of high performance soft-starter of asynchronous motor.
Simultaneously there is provided a kind of control method of soft-starter of asynchronous motor, it uses a kind of advanced Active Disturbance Rejection Control
Technical controlling regulator flexibly changes motor side input voltage, can realize what high speed and super precision was read especially in adverse circumstances
Control effect, changes stator input voltages, so that the starting current of limiting motor reaches in real time according to the change of the current of electric of collection
To the purpose of motor smooth starting.
In order to achieve the above object, the technical scheme is that：
A kind of asynchronous motor current limiting soft starter, by three-phase thyristor regulating circuit, current detection circuit, controller,
Voltage zero-crossing detection circuit, No. six trigger generators are constituted, the input of described three-phase thyristor regulating circuit with
External power grid is connected, and its output end is directly connected with motor stator end, the actual electricity that current detection circuit will detect motor side
Stream signal is exported compared with the maximum current value that default motor allows to controller, via controller calculation process output control letter
Number, voltage zero-crossing detection circuit from grid line voltage collection voltages signal as synchronous voltage signal, then by control signal and
Synchronous voltage signal is input in No. six trigger generators and produces trigger pulse, and trigger pulse is by controlling three-phase thyristor
Regulating circuit, real-time controlled motor input voltage, so that the starting current of controlled motor in real time so that motor can be steady
Startup.
Further, described three-phase thyristor regulating circuit is made up of bidirectional triode thyristor Three-Phase Voltage Regulator, its electricity
Line structure be by three pairs of antiparallel thyristor groups into.
Further, described three-phase thyristor regulating circuit has three tunnels, has two positive and negative IGCTs to compose in parallel per road.
A kind of control method of asynchronous motor current limiting soft starter, comprises the following steps：(1) after electric motor starting,
Current detection circuit detects the current value of motor side in real time, and feeds back to controller；(2) controller according to feedback come motor
Actual current value is compared with default motor maximum current value, output control signal；(3) while voltage zero-crossing detection circuit is from electricity
Net side detects line voltage in real time, and is used as the voltage synchronous signal of IGCT pulse triggering signal；(4) by control signal and electricity
Pressure synchronizing signal is exported produces trigger pulse to No. six trigger generators；(5) three-phase thyristor regulating circuit is according to triggering
The change of pulse, the stator terminal input voltage of real-time regulation motor so that ensure motor side electric current maintain all the time it is default most
Below high current value.
Further, in step (1), three-phase current signal is converted into voltage by current detection circuit by sensor to be believed
Number, then this voltage signal is sent in controller as Current Negative Three-Point Capacitance Regulate signal, by this voltage signal through three-phase
A d. c. voltage signal is obtained after full-wave rectification, filtering and partial pressure, this signal is anti-as electric current during system execution soft start
Feedback signal.
Further, the controller in step (2) is based on Auto Disturbances Rejection Control Technique, first by No. six trigger generators
Analyzed with three-phase thyristor regulating circuit as the generalized controlled object, determine input and output amount and the control of controlled device
Amount, then passes through reference input I of the Nonlinear Tracking Differentiator in Auto Disturbances Rejection Control Technique to controlled device1 *Transition process arranging is simultaneously carried
Its differential signal is taken, then by the extended state observer in Auto Disturbances Rejection Control Technique to the uncertain factor in regulator
With external disturbance enter Mobile state observation with estimation, then by the nonlinear state error feedback law in Auto Disturbances Rejection Control Technique come
The controlled quentity controlled variable of composition system, finally the parameter to each several part in control process be adjusted, finally realize real-time controlled motor
The purpose of input voltage.
Further, voltage synchronous signal deteching circuit has two functions in step (3), one is collection voltages zero passage
Moment as trigger pulse synchronizing signal；The second is three-phase voltage signal is become into direct current signal, feeding controller was played
Pressure, under-voltage protection effect.
Further, No. six trigger generators are used for the control signal that controller is sent and synchronous voltage signal life
Into control sequence pulse and then driving three-phase thyristor regulating circuit.
The present invention superiority and have technical effect that：1. the present invention is for this nonlinearity of motor, complication system
High-speed, high precision control is especially realized in adverse circumstances with preferable Control platform, and with good antijamming capability.
2. Auto Disturbances Rejection Control Technique is used in asynchronous motor current limiting soft starter, transient process short the characteristics of small with overshoot,
The change of object model and surrounding environment is adapted in very wide range, and does not influence the Control platform of controller, with fine
Robustness.
Brief description of the drawings
Accompanying drawing 1 is the general structure signal of a kind of soft-starter of asynchronous motor involved in the present invention and its control method
Figure.
Accompanying drawing 2 is three-phase thyristor pressure regulation electricity in a kind of involved soft-starter of asynchronous motor of the present invention and its control method
Lu Tu.
Accompanying drawing 3 is a kind of involved soft-starter of asynchronous motor of the present invention and its principle of the Active Disturbance Rejection Control of control method
Structured flowchart.
Accompanying drawing 4 is a kind of involved soft-starter of asynchronous motor of the present invention and its hardware structure diagram of control method.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
The present invention provides a kind of asynchronous motor current limiting soft starter (see Fig. 1), by three-phase thyristor regulating circuit, electric current
Circuit is detected, controller, voltage zero-crossing detection circuit, No. six trigger generators are constituted, described three-phase thyristor is adjusted
The input of volt circuit is connected with external power grid, and its output end is directly connected with motor stator end, and current detection circuit will be motor
The current signal that side is detected exports the maximum current value for allowing actual current signal and default motor to controller, controller
Compare, output control signal, voltage zero-crossing detection circuit collection voltages signal from grid line voltage is believed as synchronizing voltage
Number, then control signal and synchronous voltage signal are input in No. six trigger generators produce trigger pulse, trigger pulse
By controlling three-phase thyristor regulating circuit, real-time controlled motor input voltage, so that the startup electricity of controlled motor in real time
Stream so that motor can smoothly start.
Above-mentioned described three-phase thyristor regulating circuit is made up of bidirectional triode thyristor Three-Phase Voltage Regulator (see Fig. 2), its electricity
Line structure be by three pairs of antiparallel thyristor groups into.AC voltage adjusting circuit mainly has phase control type regulating circuit and chopped mode pressure regulation
Circuit.Phase control type regulating circuit is used herein, i.e., change output end voltage using gate pulse phase place change.Phase control type pressure regulation
Circuit is mainly by changing Trigger Angle α size to reach the purpose of change motor stator side input voltage.Phase control type pressure regulation
Circuit structure is simple, and achievable voltage is smoothly controlled, the advantages of fast response time.
For three-phase thyristor regulating circuit, trigger signal must be identical with phase difference with the phase sequence of AC power,
It can guarantee that output voltage is symmetrical and corresponding control range is identical.In inductive load or the smaller angle of flow, it is ensured that using tactile
Dipulse of the angle angle more than 60 ° or broad pulse triggers circuit are sent out so that it is guaranteed that IGCT is reliably triggered.Due to trigger pulse whether
Can it is reliable and stable be related to IGCT can normally, be the key of pressure regulation.
Trigger pulse order, is VT1~VT660 ° are differed successively, and α starting point is that slave phase voltage over zero starts, the phase shift of α angles
Control range is 0 °~150 °, three-phase full-bridge controlled rectifier with as it.
1) 60 ° of 0 °≤α ＜：Three pipes are 180 ° of-α with two pipes successively alternate conduction, each pipe angle of flow, but during α=0 °, three
Pipe constant conduction；
2) 90 ° of 60 °≤α ＜：Two pipes are turned on, and often pipe turns on 120 °；
3) 150 ° of 90 °≤α ＜：Two pipes are turned on and without IGCT alternate conduction, and the angle of flow is 300 ° of -2 α.
If UNRepresent the virtual value of power network phase voltage：
Wherein input voltage UNIt is relevant with Trigger Angle α and afterflow angle φ.Wherein afterflow angle φ can be approximately considered be power because
Number angle.When it is understood that when Trigger Angle and afterflow angle, it can be appreciated that the virtual value of input voltage, now we can be by it
Virtual value is equivalent to for UNStandard sine voltage.
Three-phase current signal is converted into voltage signal by above-mentioned described current detection circuit by sensor, then by this
Voltage signal is sent in controller as Current Negative Three-Point Capacitance Regulate signal.By this voltage signal through three phase full wave rectification, filter
A d. c. voltage signal is obtained after ripple and partial pressure, this signal performs current feedback signal during soft start as system.
It is internal using advanced Auto Disturbances Rejection Control Technique (see Fig. 3) above-mentioned described controller, by detecting
Current of electric is compared output control signal to triggers circuit with default maximum current value, so as to realize real-time pressure regulation.This method
Mobile state observation can be entered to the uncertain factor and external disturbance in system model, and do not influence the Control platform of controller,
With good robustness and adaptability.
Above-mentioned described voltage zero-crossing detection circuit and No. six trigger generators are using conventional modular circuit composition.
A kind of asynchronous motor current limiting soft starter, it is characterised in that：Comprise the following steps：(1) after electric motor starting,
Current detection circuit detects the current value of motor side in real time, and feeds back to controller；(2) controller according to feedback come motor
Actual current value is compared with default motor maximum current value, output control signal；(3) while voltage zero-crossing detection circuit is from electricity
Net side detects line voltage in real time, and is used as the voltage synchronous signal of IGCT pulse triggering signal；(4) by control signal and electricity
Pressure synchronizing signal is exported produces trigger pulse to No. six trigger generators；(5) regulator is according to the change of trigger pulse,
The stator terminal input voltage of real-time regulation motor, thus ensure motor side electric current maintain all the time default maximum current value with
Under.
Further, in step (1), three-phase current signal is converted into voltage by current detection circuit by sensor to be believed
Number, then this voltage signal is sent in controller is used as Current Negative Three-Point Capacitance Regulate signal.By this voltage signal through three-phase
A d. c. voltage signal is obtained after full-wave rectification, filtering and partial pressure, this signal is anti-as electric current during system execution soft start
Feedback signal.
Controller in above-mentioned steps (2) is based on Auto Disturbances Rejection Control Technique, first by No. six trigger generators and three
Phase thyristor voltage regulation circuit is analyzed as the generalized controlled object, determines the input and output amount and controlled quentity controlled variable of controlled device, so
Pass through reference input I of the Nonlinear Tracking Differentiator (TD) in Auto Disturbances Rejection Control Technique to controlled device afterwards1 *Transition process arranging is simultaneously carried
Its differential signal is taken, then by the extended state observer (EXO) in Auto Disturbances Rejection Control Technique to not true in regulator
Determine factor and external disturbance enters Mobile state observation and estimation, it is then anti-by the nonlinear state error in Auto Disturbances Rejection Control Technique
Feedback restrains (NLSEF) to constitute the controlled quentity controlled variable of system, and finally the parameter to each several part in control process is adjusted, final to realize
The purpose of real-time controlled motor input voltage.
In addition, No. six trigger generators are used for the control signal that controller is sent and synchronous voltage signal generation control
Train pulse processed and then driving three-phase thyristor regulating circuit.Three-phase thyristor regulating circuit has three tunnels, per road have two it is positive and negative
IGCT, will allow six IGCTs to sequentially turn in order, the width-pulse of 60 ° of selection, be sent successively to three tunnels, so, often
IGCT all the way can just be turned on according to the program of setting.
Accompanying drawing 4 gives the hardware structure diagram of invention energy-saving appliance, from the accompanying drawing,
By current sampling circuit, the current signal returned will be sampled through A/D converter and be converted into data signal, give list
Piece machine carries out calculation process, and single-chip microcomputer compares current signal with current expected value, the computing reasoning output control of via controller
Amount, produces trigger pulse, controlled motor voltage so that electric current is no more than preset maximum value.IGCT is close due to breakdown voltage
Operating voltage, thermal capacity is again smaller, so bearing that overvoltage, overcurrent capability are poor, the overvoltage, overcurrent in the short time are all
It is likely to result in component wear.So the reason for overvoltage, overcurrent must occur is analyzed, suitable protection is taken to arrange
Apply.To make user's more easily controlled motor runtime, liquid crystal display, button with the addition of.
Master-plan includes main circuit part, control section and protection part.Main circuit mainly has three-phase thyristor pressure regulation
Circuit is constituted, and control circuit group will be made up of controller.
The operation principle of the present invention：When electric motor starting, the current signal that sampling is returned is input to controller, with electric current
Desired value compares, the reasoning computing output control amount of via controller.Synchronization signal detection power supply zero crossing, in single-chip microcomputer outside
Break signal, triggers Interruption.When Interruption overflows, IGBT group signal is given.Regulator is according to trigger pulse
Change, the stator terminal input voltage of real-time regulation motor, so as to ensure that motor side electric current maintains default maximum current all the time
Value is following.
Claims (8)
1. a kind of asynchronous motor current limiting soft starter, it is characterised in that：By three-phase thyristor regulating circuit, current detecting electricity
Road, controller, voltage zero-crossing detection circuit, No. six trigger generators are constituted, described three-phase thyristor regulating circuit
Input be connected with external power grid, its output end is directly connected with motor stator end, and current detection circuit will detect motor side
To actual current signal exported compared with the maximum current value that default motor allows to controller, via controller calculation process
Output control signal, voltage zero-crossing detection circuit collection voltages signal from grid line voltage is used as synchronous voltage signal, then general
Control signal and synchronous voltage signal, which are input in No. six trigger generators, produces trigger pulse, and trigger pulse passes through control
Three-phase thyristor regulating circuit, real-time controlled motor input voltage, so that the starting current of controlled motor in real time so that electricity
Machine can smoothly start.
2. asynchronous motor current limiting soft starter according to claim 1, it is characterised in that：Described three-phase thyristor is adjusted
Volt circuit is made up of bidirectional triode thyristor Three-Phase Voltage Regulator, its circuit structure be by three pairs of antiparallel thyristor groups into.
3. asynchronous motor current limiting soft starter according to claim 1, it is characterised in that：Described three-phase thyristor is adjusted
Volt circuit has three tunnels, has two positive and negative IGCTs to compose in parallel per road.
4. a kind of control method of asynchronous motor current limiting soft starter, comprises the following steps：(1) after electric motor starting, electricity
Current detection circuit detects the current value of motor side in real time, and feeds back to controller；(2) controller according to feedback come motor reality
Border current value is compared with default motor maximum current value, output control signal；(3) while voltage zero-crossing detection circuit is from power network
Line voltage is detected in side in real time, and is used as the voltage synchronous signal of IGCT pulse triggering signal；(4) by control signal and voltage
Synchronizing signal is exported produces trigger pulse to No. six trigger generators；(5) regulator is according to the change of trigger pulse, reality
When regulation motor stator terminal input voltage, so as to ensure that motor side electric current is maintained below default maximum current value all the time.
5. the control method of asynchronous motor current limiting soft starter according to claim 4, it is characterised in that：Step (1)
In, three-phase current signal is converted into voltage signal by current detection circuit by sensor, then this voltage signal is sent to
As Current Negative Three-Point Capacitance Regulate signal in controller, this voltage signal is obtained after three phase full wave rectification, filtering and partial pressure
One d. c. voltage signal, this signal performs current feedback signal during soft start as system.
6. the control method of asynchronous motor current limiting soft starter according to claim 4, it is characterised in that：Step (2)
In controller be based on Auto Disturbances Rejection Control Technique, first using No. six trigger generators and three-phase thyristor regulating circuit as
The generalized controlled object is analyzed, and is determined the input and output amount and controlled quentity controlled variable of controlled device, is then passed through Auto Disturbances Rejection Control Technique
In Nonlinear Tracking Differentiator to the reference input I of controlled device1 *Transition process arranging and the differential signal for extracting it, then by certainly anti-
Disturb the extended state observer in control technology the uncertain factor and external disturbance in regulator are entered Mobile state observation with
Estimation, then constitutes the controlled quentity controlled variable of system by the nonlinear state error feedback law in Auto Disturbances Rejection Control Technique, finally exists
The parameter of each several part is adjusted in control process, the purpose of real-time controlled motor input voltage is finally realized.
7. the control method of asynchronous motor current limiting soft starter according to claim 4, it is characterised in that：Step (3)
Middle voltage synchronous signal deteching circuit has two functions, one is collection voltages zero-acrross ing moment is believed as the synchronization of trigger pulse
Number；The second is three-phase voltage signal is become into direct current signal, feeding controller plays overvoltage, under-voltage protection effect.
8. the control method of the asynchronous motor current limiting soft starter according to claim 4 or 6, it is characterised in that：Six tunnels
Trigger generator is used for the control signal that controller is sent and synchronous voltage signal generation control sequence pulse and then drive
Dynamic three-phase thyristor regulating circuit.
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| CN201710579207.2A CN107276457A (en) | 2017-07-17 | 2017-07-17 | A kind of soft-starter of asynchronous motor and its control method |
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| CN201710579207.2A CN107276457A (en) | 2017-07-17 | 2017-07-17 | A kind of soft-starter of asynchronous motor and its control method |
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Cited By (4)
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| CN109230871A (en) * | 2018-10-12 | 2019-01-18 | 常州市新创智能科技有限公司 | A kind of phase asynchronous torque motor unwinding driving circuit of induction type and method |
| CN110595514A (en) * | 2019-09-24 | 2019-12-20 | 中国电子科技集团公司第四十三研究所 | Phase adaptive circuit in rotary-to-digital converter and control method thereof |
| CN114362629A (en) * | 2021-12-30 | 2022-04-15 | 上海电机学院 | Energy-saving control system for cage type asynchronous motor |
| CN116243636A (en) * | 2023-02-01 | 2023-06-09 | 江苏神州半导体科技有限公司 | Intelligent control method and system for radio frequency power supply |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109230871A (en) * | 2018-10-12 | 2019-01-18 | 常州市新创智能科技有限公司 | A kind of phase asynchronous torque motor unwinding driving circuit of induction type and method |
| CN110595514A (en) * | 2019-09-24 | 2019-12-20 | 中国电子科技集团公司第四十三研究所 | Phase adaptive circuit in rotary-to-digital converter and control method thereof |
| CN110595514B (en) * | 2019-09-24 | 2021-10-01 | 中国电子科技集团公司第四十三研究所 | Phase adaptive circuit in rotary-to-digital converter and control method thereof |
| CN114362629A (en) * | 2021-12-30 | 2022-04-15 | 上海电机学院 | Energy-saving control system for cage type asynchronous motor |
| CN114362629B (en) * | 2021-12-30 | 2023-08-29 | 上海电机学院 | Cage type asynchronous motor energy-saving control system |
| CN116243636A (en) * | 2023-02-01 | 2023-06-09 | 江苏神州半导体科技有限公司 | Intelligent control method and system for radio frequency power supply |
| CN116243636B (en) * | 2023-02-01 | 2023-10-24 | 江苏神州半导体科技有限公司 | Intelligent control method and system for radio frequency power supply |
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Application publication date: 20171020 |