CN107634694A - A kind of method for controlling number of revolution of rotating mechanism - Google Patents

A kind of method for controlling number of revolution of rotating mechanism Download PDF

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Publication number
CN107634694A
CN107634694A CN201710724677.3A CN201710724677A CN107634694A CN 107634694 A CN107634694 A CN 107634694A CN 201710724677 A CN201710724677 A CN 201710724677A CN 107634694 A CN107634694 A CN 107634694A
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speed
instruction
torque
motor
ref
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CN107634694B (en
Inventor
谢鸣
仲志平
陆龙兴
周强
范明哲
陆晓庆
柏青
庞磊
周伟
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Shanghai International Port Group Ltd By Share Ltd Zhang Huabang Branch
Wuhan Guide Electric Co Ltd
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Shanghai International Port Group Ltd By Share Ltd Zhang Huabang Branch
Wuhan Guide Electric Co Ltd
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Priority to CN201710724677.3A priority Critical patent/CN107634694B/en
Publication of CN107634694A publication Critical patent/CN107634694A/en
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Abstract

The invention discloses a kind of method for controlling number of revolution of rotating mechanism, velocity measuring module obtains motor real-time speed feedback signal；Motor speed/torque command generation module is according to handle speed command, First Speed instruction, mechanical brake instruction and the feedback speed signal received, the instruction of generation second speed and torque instruction；Second speed instruction keeps module generation third speed instruction, third speed instruction and feedback speed signal difference input speed control pi regulator through zero-speed, generates the first torque instruction；Torque command selecting module exports the first torque instruction, zero-turn square or motor torque capacity as the second torque instruction according to torque instruction；Second torque instruction is exported to the control signal input of motor through frequency converter.The present invention is carried the advantages of can retaining frequency control, is made bigger control flexibility ratio of the driver to rotating mechanism, the response speed of raising rotating mechanism, is improved operating efficiency.

Description

A kind of method for controlling number of revolution of rotating mechanism
Technical field
The invention belongs to Frequency Converter Control technical field, and in particular to a kind of method for controlling number of revolution of rotating mechanism.
Background technology
At present, the rotating mechanism on some large inertia rotating mechanisms, such as harbour handling high pedestal jib crane uses Drive form one kind is wound-rotor motor, and the form speed governing switched using rotor resistance, one kind is adjustable frequency motor, utilizes change Frequency device changes the voltage of motor and frequency carries out speed governing.The shortcomings that wound-rotor motor mode of speed regulation is：Speed adjustable range is narrow, starts Impact is big, and the contacts of contactor of use is easily damaged, and coiling electric motor maintenance cost is high；Its advantage is：Low speed can be frequent when in place Crawl, low speed torque output is big, response is fast, fast with hook, and driver's manipulation flexibility is big, fixed-point installation efficiency high.Frequency control side The advantages of formula is：Speed-regulating range width, can soft start, start impact it is small, the variable-frequency motor reliability of use is higher, maintenance cost It is low；But the shortcomings that frequency control way, is：There can only be acceleration and two kinds of control modes of slowing down, low speed must be estimated in advance in place Acceleration and deceleration time, if frequent crawl, rotating mechanism can vibrate larger.If driver makes high pedestal jib crane by mechanical brake During deceleration, frequency converter must exit control, i.e. cut-out output, frequency converter, frequency conversion are again started up after mechanical brake fails Device has to carry out rotating speed tracking function, it will usually which the tracking time for having 1~2 second could normal operating.Therefore, driven using frequency converter Dynamic high pedestal jib crane rotary system manipulation very flexible, response speed is slow, fixed-point installation efficiency is low.
The content of the invention：
The problem of present invention will exist for above-mentioned background technology, there is provided a kind of method for controlling number of revolution of rotating mechanism, control Flexibility ratio processed is big, response speed is done, operating efficiency is high.
In order to solve the above technical problems, the technical scheme is that：
A kind of method for controlling number of revolution of rotating mechanism, gear generation handle speed of the handle gear instruction module according to handle Instruct ωREF, slope amplitude limitation module is according to handle speed command ωREFGenerate First Speed instructionVelocity measuring module Obtain motor real-time speed feedback signal ωFK；
Motor speed/torque command generation module is according to the handle speed command ω receivedREF, First Speed instruction Mechanical brake instructs Brk and feedback speed signal ωFK, generation second speed instructionWith torque instruction TSW；
Second speed instructsModule generation third speed instruction is kept through zero-speedThird speed instructsWith speed Spend feedback signal ωFKDifference input speed control pi regulator, generate the first torque instruction
Torque command selecting module is according to torque instruction TSWBy the first torque instructionZero-turn square or motor torque capacityAs the second torque instructionOutput；
Second torque instructionExported through frequency converter to the control signal input of motor.
It is preferred that motor speed/torque command generation module is according to the handle speed command ω receivedREF, First Speed refers to OrderMechanical brake instructs Brk and feedback speed signal ωFK, generation second speed instructionWith torque instruction TSWMethod Including：
If Brk=1, andThen torque instruction TSWControl
IfAnd ωFK＜ V1, thenAcceleration time=AT1 or
IfAnd ωFK＞ V1, thenAcceleration time=AT2；
If ωREF=0,
ThenDeceleration time=AT3 or described torque instructions TSWDescribed in control
IfAnd ωREF=reverse one grade,
ThenDeceleration time=AT4；
IfAnd ωREF=reverse two grades,
ThenDeceleration time=AT5；
IfAnd ωREF=reverse third gear,
ThenDeceleration time=AT6；
AT1, AT2, AT3, AT4, AT5, AT6 and V1It is artificial setup parameter, and the AT4 ＞ AT5 ＞ AT6.
It is preferred that third speed instructsInstructed with second speedValue it is identical.
It is preferred that zero-speed keeps being included in second speed instructionWhen, instruct third speedWhen keeping default It is long.
It is preferred that preset duration is empirical parameter.
The beneficial effects of the present invention are：A kind of method for controlling number of revolution of rotating mechanism of the present invention can be low in rotating mechanism Big torque output is provided when fast in place, facilitates driver faster with hook.Harder mechanical property can be provided in higher gear, prevented Only speed control shakiness phenomenon caused by wind-force.
It is more accurate to the direct torque of motor that the present invention relative to conventional wire-wound motor cuts rheostatic speed regulation control mode. Conventional wire-wound motor cut rheostatic speed regulation control mode carried out when slip is larger crawl or reverse operation can all cause compared with Big rush of current and torque shock ends, the vibration of rotating mechanism can be then caused, and use the control method of the present invention, in pattern Control of the switching instant for current of electric and output torque is all exactly accurate, does not have excessive impact and produces.
The present invention can be such that frequency converter is exported without torque when driver steps on mechanical brake, rapid extensive after mechanical brake releasing Multiple control；Zero-speed control can be provided afterwards in place in rotating mechanism, resist the influence of wind-force, make driver in lifting without adjusting again Whole rotating mechanism, energy are more concentrated.
Technical scheme provides a kind of loaded for large inertia rotating mechanism and uses frequency-conversion and speed-regulation motor Method for controlling number of revolution, the advantages of frequency control can be retained, wound-rotor motor mode of speed regulation is drawn at handling aspect Advantage, make bigger control flexibility ratio of the driver to rotating mechanism, the response speed of raising rotating mechanism, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the system control principle drawing of the embodiment of the present invention,
Fig. 2 is the control process schematic diagram of the embodiment of the present invention.
In figure：1- handle gear instruction modules, 2- mechanical brake signaling modules, 3- slopes amplitude limitation module, 4- motors Speed/torque instruction generation logic module, 5- zero-speeds keep module, 6- speed control pi regulators, 7- torque commands selection mould Block, 8- frequency converters, 9- motors, 10- velocity measuring modules.
Embodiment
The method for controlling number of revolution of a kind of rotating mechanism of the present invention, when starting from zero-speed, if handle reference instruction is big It is less than some numerical value (such as 10Hz), the torque capacity that can be just exported according to motor 9 (such as 200% in present speed and speed Torque exports) exported, this can use the form of torque control model output, can also use shorter acceleration time (such as 1s Acceleration time) speed control mode form；If handle reference instruction is more than present speed and speed is more than some numerical value (such as 10Hz), just accelerated according to the normal acceleration time (4~6s acceleration time)；If handle reference instruction is 0, and When speed is more than 0, the pattern of zero-turn square output, or the speed control mould using longer deceleration time (such as 300s) can be used Formula；When driver steps on mechanical brake and braked, frequency conversion system immediately enters zero-turn square after obtaining mechanical brake switching signal Output mode, the moment is unclamped in driver's mechanical brake, then from speed corresponding to present speed to handle reference instruction according to acceleration Time is run；When handle reference instruction direction and present speed are in opposite direction, according to the of different sizes of handle reference instruction Motor 9 is allowed to be braked according to different deceleration times, as handle reference instruction is bigger, deceleration time is shorter；When handle refers to Instruct for 0 and present speed be 0 when, motor 9 can carry out zero-speed control according to zero-speed retention time for setting.Only above institute There is Combination of Methods to get up to apply the complete skill scheme for just forming present aspect on rotating mechanism on high pedestal jib crane, only Possesses the control effect which part item function is just unable to reach the present invention.
The concrete scheme of the present invention includes：
A kind of method for controlling number of revolution of rotating mechanism, gear generation handle speed of the handle gear instruction module 1 according to handle Degree instruction ωREF, slope amplitude limitation module 3 is according to handle speed command ωREFGenerate First Speed instructionVelocity measuring Module 10 obtains the real-time speed feedback signal ω of motor 9FK, the acquisition mechanical brake instruction of mechanical brake signaling module 2 Brk；
The speed/torque directive generation module of motor 9 is according to the handle speed command ω receivedREF, First Speed instruction Mechanical brake instructs Brk and feedback speed signal ωFK, generation second speed instructionWith torque instruction TSW；
Second speed instructsModule 5 is kept to generate third speed instruction through zero-speedThird speed instructsWith speed Spend feedback signal ωFKDifference input speed control pi regulator 6, generate the first torque instruction
Torque command selecting module 7 is according to torque instruction TSWBy the first torque instructionZero-turn square or maximum turn of motor 9 SquareAs the second torque instructionOutput；
Second torque instructionExported through frequency converter 8 to the control signal input of motor 9.
The speed/torque directive generation module of motor 9 is according to the handle speed command ω receivedREF, First Speed instruction Mechanical brake instructs Brk and feedback speed signal ωFK, generation second speed instructionWith torque instruction TSWMethod include：
If Brk=1, andThen torque instruction TSWControl
IfAnd ωFK＜ V1, thenAcceleration time=AT1 or
IfAnd ωFK＞ V1, thenAcceleration time=AT2；
If ωREF=0,
ThenDeceleration time=AT3 or described torque instructions TSWControl is counter to be stated
IfAnd ωREF=reverse one grade,
ThenDeceleration time=AT4；
IfAnd ωREF=reverse two grades,
ThenDeceleration time=AT5；
IfAnd ωREF=reverse third gear,
ThenDeceleration time=AT6；
AT1, AT2, AT3, AT4, AT5, AT6 and V1It is artificial setup parameter, and the AT4 ＞ AT5 ＞ AT6.
Third speed instructsInstructed with second speedValue it is identical.
Zero-speed keeps being included in second speed instructionWhen, instruct third speedKept under zero velocity default Duration, preset duration are empirical parameter, are generally manually determined according to the time required for lifting.
And instructed in second speedDuring not equal to 0, third speed instructionFor instantaneous speed command.
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, including handle gear instruction module 1, the different generations of module gear according to residing for handle are discrete, side The speed command ω of ripple classREF, such as:Handle is in zero-bit shelves, ωREF=0Hz, handle are in positive one grade, ωREF=10Hz, Handle is in positive two grades, ωREF=25Hz, handle are in positive third gear, ωREF=50Hz, handle are in reverse one grade, ωREF =-10Hz, handle are in reverse two grades, ωREF=-25Hz, handle are in reverse third gear, ωREF=-50Hz, each gear of the above Corresponding speed command can change as requested.Mechanical brake instructs Brk, and when mechanical brake is stepped on by driver, the instruction is to have Effect, the instruction ignore when driver does not step on mechanical brake.Slope amplitude limits module 3, and the module receives the speed of square wave class Instruct ωREFAnd the speed command of Slop type is generated according to the setting of acceleration timeMotor speed/torque instruction generation mould Block 4, the module receive 1 speed command ωREF, 2 mechanical brake instruction Brk, 3 speed commandWith 10 feedback speed Signal ωFK, formation speed instructs after logical processInstruction T with controlling torque command selecting module 77SW, 4 finger Order generation logic is shown below：
In above formula, acceleration time and deceleration time represent to accelerate to the time used in highest gear speed and from most high-grade from 0 Bit rate decelerates to the time used in 0, and sgn (x) represents sign function, the sgn (x)=1 when x is more than 0, the sgn (x) when x is less than 0 =-1.AT4>AT5>AT6, in common high pedestal jib crane rotary system, some parameter values recommendation of above formula is as follows：AT1 =1s, AT2=6s, AT3=300s, AT4>AT5>AT6, AT4=4s, AT5=3s, AT6=2s, V1=15Hz.
Zero-speed keeps module 5, works as speed commandWhen, it can be instructed after 5 according to zero-speed retention time formation speedFrequency converter 8 is set to keep speed control mode, the zero-speed retention time generally determines according to lifting required time.Speed InstructionWith the speed feedback rate signal ω of motor 9FKDifference by speed control pi regulator 6 regulation after formation speed control Torque instruction processedThe torque instruction is input to torque command selecting module 7, and the module is by TSWControl output torque instruction The torque instruction generates after frequency converter 8 frequency and the voltage of amplitude change controls motor 9, velocity measuring module 10 Detect the actual speed of motor 9 and generate feedback speed signal ωFK。
Fig. 2 is the schematic diagram for explaining various working conditions related to the present invention, it is not intended that each operation of driver It will be carried out fully according to the process shown in Fig. 2.
Handle instruction ω in 0~t1 sections, now driverREFInstructed with ramp velocityDirection is identical,Also Not up to ωREF, and the actual speed ω of motor 9FKIt is less than V1, usual driver needs motor 9 to respond in this speed interval Speed is fast, and facilitating low speed, (operating mode with hook meaning is due to that can be hanged below a cantilever for machine rotary system by steel wire rope with hook Goods is hung, goods can produce wave in the process of running, and driver can wave by being operated with hook to suppress weight).Therefore this area Between acceleration time (AT1) need set shorter or take torque control model, the maximum for directly allowing the output of motor 9 to allow TorqueIn two methods, if using the shorter acceleration time, when existing against the wind and wind resistance is very big, easily Allowing speed control saturation and can not allow actual speed ωFKThe preferably situation of tracking given rotating speed, it is possible to velocity deviation can be reported Failure, but the speed controllability of driver feels slightly good under normal circumstances；If turned using the maximum for directly allowing the output of motor 9 to allow Square mode, when situation with the wind be present, the problem of easily allowing driver to feel that acceleration is too fast, but report velocity deviation is not present, therefore It can be selected according to the impression of driver, either that method, driver can be supplied to rapid similar to the low speed response of coiling electric motor 9 Characteristic.
Handle instruction ω in t1~t2 sections, now driverREFInstructed with ramp velocityDirection is identical, Also it is not up to ωREF, and the actual speed ω of motor 9FKIt is greater than V1, normal accelerator is now in,Plus The fast time is AT2.
Handle instruction ω in t2~t3 sections, now driverREFInstructed with ramp velocityDirection is identical, ω is reachedREF, now the onspeed of motor 9 and run with given speed.
Handle instruction ω in t3~t4 sections, now driverREFFor 0, this shows that driver's is intended that the observation that is prepared to stop Lifting situation.If according to traditional control mode of frequency converter 8, now should just stop according to some deceleration time (such as 6s) Car, such mode of operation are not meet the intention of driver.Now a kind of control mode of the invention isDeceleration time Carried out according to a longer time, driver can feel rotating mechanism deceleration unobvious, be to slide；Another control mode It is to allowEqual to 0, door machine rotating mechanism is also in sliding state because inertia is larger.The advantages of the first control mode is In coast period due to being still hard still in the rotary speed property of speed control mode, rotating mechanism, that is, not by wind-force Influence, be the advantages of second of control mode in the mode for cut resistance closer to coiling electric motor 9 after driver's handle back to zero motor 9 Virtually free from the characteristic of driving force.Both the above control mode can select according to the impression of driver, either that side Method, the characteristic that driver can be supplied to be slided similar to rotating mechanism after the handle back to zero of coiling electric motor 9, i.e. driver operate in next step Rotating mechanism speed does not have greatly changed before.It should be noted that if the handle instruction of driver is not for 0, but Downshift, such as drops to two grades or one grade, this shows that driver's is intended that deceleration, now from third gearDeceleration time should be just Conventional deceleration time (such as 6s), because this belongs to the conventional func of conventional inverter device 8, therefore in fig. 2 not to this behaviour Illustrate.
What t4~t5 sections represented is that driver has stepped on mechanical brake, and now no matter the signal of handle is at several grades, frequency converter 8 Should all torque be controlled to exportEqual to 0, otherwise mechanical brake can be considered outer by the frequency converter 8 under speed control mode Section load increases, so as to increase output torque.So both it is unfavorable for the effect of brake, also can heavy wear brake block.In torque OutputThe moment is carried out while equal to 0Operation, thus mechanical brake eliminate moment allowFrom Current rotating speed starts to instruct ω to given speedREFOperation, as t5~t6 sections represent.
That t6~t7, t7~t8, t8~t9 sections represent is the handle instruction ω of driverREFInstructed with ramp velocitySide To being opposite, namely what is often called " beating anti-shelves " operation, now frequency converter 8 can subtract according to the difference of reverse gear according to different Fast timed deceleration, these deceleration times are shorter than the deceleration time of normal downshift.This is that the traditional coiling electric motor 9 of simulation cuts resistance tune Driver is electric when driver beats anti-shelves when traditional coiling electric motor 9 cuts rheostatic speed regulation in order to faster brake the operating mode of meeting reverse-starting braking operation when fast Machine 9, which enters, to be fallen to draw inverted status, and the phase sequence of its stator is reverse, although having certain current limitation effect because rotor seals in resistance, Still there are a larger current and torque shock ends, and providing shorter deceleration time when beating anti-shelves using frequency converter 8 can equally reach The effect of the effect quickly stopped, its current limliting and torque-limiting impact is then well a lot.It should be noted that this function needs Energy caused by fast braking is consumed with bigger brake unit, in addition, on the crane of rectification feedback system is equipped with Then without having to worry about braking energy the problem of.
In t9~t10 sections, when handle instructs ωREFInstructed with ramp velocityWhen being all 0, rank is kept into zero-speed Section, it in given speed is under 0 speed control mode that now motor 9, which is, even if the influence of wind-force be present, rotating mechanism is not yet It can rotate, this is very beneficial for driver and concentrates entirely on energy in lifting.And cut the controlling party of resistance in traditional coiling electric motor 9 Under formula, now motor 9 is idle, that is to say, that causes rotating mechanism to rotate if there is wind-force, driver needs not stop to adjust Whole rotating mechanism is held in position.
When low speed is with regard to bit manipulation, driver needs constantly to repeat point fixed handle, handle back to zero, steps on brake high pedestal jib crane Car, a series of actions such as anti-shelves are played, need rotating mechanism remains stationary after in place, therefore, only various functions of the invention have Effect combination could meet low speed operating mode in place.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted, And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims (5)

  1. A kind of 1. method for controlling number of revolution of rotating mechanism, it is characterised in that：Gear of the handle gear instruction module (1) according to handle Generate handle speed command ωREF, slope amplitude limitation module (3) is according to the handle speed command ωREFGenerate First Speed InstructionVelocity measuring module (10) obtains motor (9) real-time speed feedback signal ωFK, mechanical brake signaling module (2) obtains Mechanical brake is taken to instruct Brk；
    Motor (9) the speed/torque directive generation module (4) is according to the handle speed command ω receivedREF, described One speed commandThe mechanical brake instructs the Brk and feedback speed signal ωFK, generation second speed instructionWith Torque instruction TSW；
    The second speed instructionModule (5) generation third speed instruction is kept through zero-speedThe third speed instructionWith the feedback speed signal ωFKDifference input speed control pi regulator (6), generate the first torque instruction
    Torque command selecting module (7) is according to the torque instruction TSWBy first torque instructionZero-turn square or motor (9) Torque capacityAs the second torque instructionOutput；
    Second torque instructionControl signal input through frequency converter (8) output to the motor (9).
  2. A kind of 2. method for controlling number of revolution of rotating mechanism according to claim 1, it is characterised in that motor (9) speed Degree/torque command generation module (4) is according to the handle speed command ω receivedREF, First Speed instructionIt is described Mechanical brake instructs the Brk and feedback speed signal ωFK, generation second speed instructionWith torque instruction TSWMethod bag Include：
    If Brk=1, andThe then torque instruction TSWDescribed in control
    IfAnd ωFK＜ V1, thenAcceleration time=AT1 or
    IfAnd ωFK＞ V1, thenAcceleration time=AT2；
    If ωREF=0,
    ThenDeceleration time=AT3 or described torque instructions TSWDescribed in control
    IfAnd ωREF=reverse one grade,
    ThenDeceleration time=AT4；
    IfAnd ωREF=reverse two grades,
    ThenDeceleration time=AT5；
    IfAnd ωREF=reverse third gear,
    ThenDeceleration time=AT6；
    Described AT1, AT2, AT3, AT4, AT5, AT6 and the V1It is artificial setup parameter, and the AT4 ＞ AT5 ＞ AT6.
  3. A kind of 3. method for controlling number of revolution of rotating mechanism according to claim 1, it is characterised in that：The third speed refers to OrderInstructed with the second speedValue it is identical.
  4. A kind of 4. method for controlling number of revolution of rotating mechanism according to claim 1 or 3, it is characterised in that：The zero-speed is protected Hold and be included in the second speed instructionWhen, instruct the third speedKeep preset duration.
  5. A kind of 5. method for controlling number of revolution of rotating mechanism according to claim 4, it is characterised in that：It is a length of during the setting Empirical parameter.
CN201710724677.3A 2017-08-22 2017-08-22 Rotating speed control method of rotating mechanism Active CN107634694B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111416561A (en) * 2020-03-09 2020-07-14 埃夫特智能装备股份有限公司 Improved three-ring control method for motor

Citations (5)

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Publication number Priority date Publication date Assignee Title
JP2003333898A (en) * 2002-05-14 2003-11-21 Fuji Electric Co Ltd Synchronous motor and controller for induction motor
CN1767370A (en) * 2004-10-07 2006-05-03 丰田自动车株式会社 The motor driver that the output torque is had oscillation-reducing control function
CN101337514A (en) * 2007-07-06 2009-01-07 三菱电机株式会社 Power inversion device for electric car
CN102647148A (en) * 2012-04-17 2012-08-22 中联重科股份有限公司 Equipment, method and system used for lifting variable frequency motor and engineering machinery equipment
CN106115476A (en) * 2016-08-12 2016-11-16 武汉港迪电气传动技术有限公司 The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003333898A (en) * 2002-05-14 2003-11-21 Fuji Electric Co Ltd Synchronous motor and controller for induction motor
CN1767370A (en) * 2004-10-07 2006-05-03 丰田自动车株式会社 The motor driver that the output torque is had oscillation-reducing control function
CN101337514A (en) * 2007-07-06 2009-01-07 三菱电机株式会社 Power inversion device for electric car
CN102647148A (en) * 2012-04-17 2012-08-22 中联重科股份有限公司 Equipment, method and system used for lifting variable frequency motor and engineering machinery equipment
CN106115476A (en) * 2016-08-12 2016-11-16 武汉港迪电气传动技术有限公司 The anti-control system opening bucket of a kind of high pedestal jib crane grab bucket

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111416561A (en) * 2020-03-09 2020-07-14 埃夫特智能装备股份有限公司 Improved three-ring control method for motor

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