CN108011561B - Induction motor VF control method and device based on current control - Google Patents
Induction motor VF control method and device based on current control Download PDFInfo
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/047—V/F converter, wherein the voltage is controlled proportionally with the frequency
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Abstract
The invention relates to a current control-based induction motor VF control method and a current control-based induction motor VF control device.
Description
Technical Field
The invention relates to the technology of VF control of an induction motor, in particular to a novel VF control method and a novel VF control device of the induction motor based on current control.
Background
The induction motor is widely applied in the industrial field, and the speed regulation control of the induction motor is an important measure for saving energy and improving efficiency. For application occasions such as a fan, a water pump and the like, because strict speed precision is not needed, speed feedback and current feedback are not needed generally, a constant voltage frequency ratio, namely VF control can be used, and the control method is simple in control, strong in universality and good in economical efficiency.
Because the traditional VF control has no current feedback, when the frequency converter drives the motor to have abnormal fault conditions such as overcurrent and the like due to sudden load change and the like in the running process of the motor by using a VF control method, the frequency converter can not actively solve the overcurrent problem from a control layer, only can rely on the software and hardware protection function, and even can be directly shut down and powered off. When the motor is in operation with a load, normal production can be directly influenced by direct power-off, economic loss is caused, and a current control link is not arranged in VF control of the traditional induction motor, so that the problems that the induction motor is in overcurrent and other working conditions can not be effectively restrained and solved from a control layer are solved, therefore, the current control function is added in the VF control of the induction motor, and great significance is brought to the improvement of the control performance and the protection function of the frequency converter.
Disclosure of Invention
In view of the above, the present invention provides a novel VF control method and apparatus for an induction motor based on current control.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a current control-based induction motor VF control method, which comprises the following steps:
1)the current sampling circuit in the frequency converter collects the three-phase current flowing into the controlled motor in real time and then carries out transformation, amplitude calculation and filtering processing to obtain the real value I of the motor currentfed；
2) The real value I of the motor currentfedAnd a current set value IsetComparison of size according to IfedAnd IsetThe difference value of the current value and the current value is used for respectively obtaining the output voltage U of the frequency converter through a voltage regulation module for regulating the output voltage value of the current system by the current actual value and a frequency regulation module for regulating the frequency set value of the current system by the current actual valueoutRegulating value U ofregAnd a set frequency fsetRegulating value freg；
3) By regulating the value U by voltageregTo the output voltage U of the frequency converteroutAnd the frequency adjustment value fregFor a set frequency fsetThe frequency converter automatically adjusts according to the adjusted output voltage Uout1And (4) calculating a modulation ratio, inverting the modulation ratio by a PWM (pulse width modulation) generation module, and adjusting the output three-phase current of the frequency converter.
In the above technical scheme, in the step 1), the collected three-phase current is Ia、Ib、IcThe three-phase current I under the static coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd ItAnd according to transformed ImAnd ItAnd after the amplitude of the current is calculated, filtering to remove noise signals.
In the above technical solution, in the step 2), the current set value I is set according to the frequency converter, the motor and the application conditionsetCurrent set value IsetDefaults to 150% of rated current of the motor, and configures a regulating parameter G of a voltage regulating moduleu、TuAnd the regulation parameter G of the frequency regulation modulef、Tf(ii) a The function of the regulating module is to make the regulating parameter G, T of the input signal quickly regulate to be consistent with the reference value.
In the above technical solution, the step 3),the voltage regulation value Ureg：
Ureg1＝Ureg0+Gu×[(Ifed1-Iset)-(Ifed0-Iset)]+Tu×(Ifed1-Iset)；
Frequency adjustment value freg：
freg1＝freg0+Gf×[(Ifed1-Iset)-(Ifed0-Iset)]+Tf×(Ifed1-Iset)；
The output voltage of the frequency converter after modulation is Uout1＝Uout0+Ureg1；
The adjusted frequency converter is set to have the frequency fset1＝fset0+freg1；
In this case, the subscript 0 represents the last calculated value, and the subscript 1 represents the present calculated value.
In the above technical solution, in the step 3), the voltage regulation value UregAnd the frequency adjustment value fregThe calculated result has a clipping value of Ureg_limAnd freg_limWhen U is formedregAnd fregExceeding voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_limIn time, forcibly making the voltage regulation value UregAnd the frequency adjustment value fregAre respectively equal to the voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_lim。
The invention discloses an induction motor VF control device based on current control, which is characterized in that: the device comprises a current detection and conversion module, an amplitude calculation module, a frequency regulation module, a voltage regulation module, a frequency setting module, a VF curve module and a PWM generation module;
the current detection conversion module is used for carrying out coordinate transformation on three-phase current;
the amplitude calculation module is used for calculating the current amplitude;
the frequency adjusting module is used for adjusting the given frequency value of the current system according to the actual current value;
the voltage adjusting module is used for adjusting the output voltage value of the current system according to the current actual value;
the frequency setting module is used for setting the target working frequency of the induction motor from the outside or the inside of the system according to the use working condition;
the VF curve module calculates the output voltage of the frequency converter according to the set target working frequency;
and the PWM generation module calculates and sends out pulse waves to enable the inverter to work according to the voltage and the frequency of the frequency converter, and three-phase current is generated to drive the induction motor.
In the above technical scheme, the current detection conversion module collects three-phase current as Ia、Ib、IcAnd for three-phase current I under a static coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd It；
An amplitude calculation module for calculating the amplitude of the transformed ImAnd ItAfter the amplitude of the current is calculated, filtering processing is carried out to filter noise signals to obtain the true value I of the motor currentfed。
In the above technical solution, the voltage regulation module regulates the voltage according to the actual value I of the motor currentfedAnd a current set value IsetComparing the obtained difference values to obtain the output voltage U of the frequency converteroutRegulating value U ofregAnd configuring the regulating parameter G of the voltage regulating moduleu、Tu；
The frequency adjustment module is according to IfedAnd IsetTo obtain a set frequency fsetRegulating value fregAnd configuring the adjusting parameter G of the frequency adjusting modulef、Tf；
Wherein, the current set value I is set according to the frequency converter, the motor and the application working conditionsetCurrent set value IsetDefault to 150% of the motor rated current.
In the technical scheme, the value U is regulated through the voltageregTo the output voltage U of the frequency converterout(iii) adjustment of (c);
by a frequency adjustment value fregFor a set frequency fset(iii) adjustment of (c);
the frequency converter automatically outputs a voltage U according to the regulated output voltageout1Regulating the three-phase current I output by the frequency convertera、Ib、Ic。
In the above technical solution, the voltage regulation value UregThe amplitude limit value of the calculated result is Ureg_limWhen U is formedregExceeding voltage regulation amplitude limit value Ureg_limForcibly making the voltage regulation value UregEqual to voltage regulation amplitude limit value Ureg_lim；
Frequency adjustment value fregIs freg_limWhen f isregOut of frequency regulation amplitude limit freg_limForcing the frequency adjustment value fregEqual to the frequency regulation amplitude limit freg_lim。
The invention relates to a novel VF control method and a novel VF control device of an induction motor based on current control, which have the following beneficial effects: after the improved VF control provided by the invention is adopted, the problem of overcurrent during the VF control operation of the asynchronous motor can be automatically restrained and solved by the frequency converter from the control layer, and the VF operation reliability is improved. The method and the device prevent the current of the motor from being rapidly increased due to factors such as sudden speed change, sudden load change, entering a low-speed unstable area and the like when the asynchronous motor operates under VF control, ensure that the motor cannot be suddenly stopped and unloaded, and ensure the continuity and the safety of production.
Drawings
FIG. 1 is a general architecture of a conventional VF control method;
fig. 2 is a general structure diagram of an induction motor VF control apparatus based on current control according to the present invention;
fig. 3 illustrates the overcurrent suppression effect of the conventional VF control method and apparatus for an induction motor VF control based on current control according to the present invention;
fig. 4 shows the overcurrent suppression effect of the current control-based method and apparatus for controlling an induction motor VF in a novel VF control manner with current control according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is a structural diagram of a VF control method of a conventional induction motor, which cannot effectively solve the problem of overcurrent during operation of the induction motor from a control level.
The invention discloses a current control-based induction motor VF control method, which comprises the following steps:
1) the current sampling circuit in the frequency converter is used for acquiring the three-phase current flowing into the controlled motor in real time and then carrying out transformation, amplitude calculation and filtering treatment to obtain the true value I of the motor currentfed；
Wherein the collected three-phase current is Ia、Ib、IcFor the three-phase current I in the stationary coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd ItAnd according to transformed ImAnd ItAnd calculating the amplitude of the current, and filtering the current to remove noise signals.
2) Comparing the actual value I of the motor currentfedAnd current set value IsetAccording to the error between the current value and the output voltage value, the voltage regulation module for regulating the output voltage value of the current system by using the current actual value and the frequency regulation module for regulating the frequency given value of the current system by using the current actual value respectively obtain the output voltage U of the frequency converteroutRegulating value U ofregAnd a set frequency fsetRegulating value freg；
Wherein, the current set value I is set according to the frequency converter, the motor and the application working conditionsetDefaults to 150% of rated current of the motor and needs to be configured with a regulating parameter G of a voltage regulating moduleu、TuAnd the regulation parameter G of the frequency regulation modulef、TfThe function of the adjusting module is to enable the adjusting parameter G, T of the input signal to be quickly adjusted to be consistent with the reference value;
3) by regulating the value U by voltageregTo the output voltage U of the frequency converteroutAnd the frequency adjustment value fregFor a set frequency fsetThe frequency converter automatically adjusts according to the adjusted output voltage Uout1The three-phase current I is input to the modulation ratio calculation, is inverted by the PWM generation module, and is regulated to be output by the frequency convertera、Ib、IcThe motor is prevented from overcurrent.
Wherein the voltage regulation value Ureg：
Ureg1＝Ureg0+Gu×[(Ifed1-Iset)-(Ifed0-Iset)]+Tu×(Ifed1-Iset)
Frequency adjustment value freg：
freg1＝freg0+Gf×[(Ifed1-Iset)-(Ifed0-Iset)]+Tf×(Ifed1-Iset)
The output voltage of the frequency converter after modulation is Uout1＝Uout0+Ureg1The adjusted frequency converter is set to have the frequency fset1＝fset0+freg1
In this case, the subscript 0 represents the last calculated value, and the subscript 1 represents the present calculated value.
Wherein the value U is adjusted in order to prevent voltageregAnd the frequency adjustment value fregThe calculation result is infinitely increased and even exceeds the physical limit of the calculation unit, the calculation result is required to be set to be limited, and the voltage regulation limit value is Ureg_limThe frequency regulation amplitude limit value is freg_limWhen U is formedregAnd fregExceeding voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_limIn time, forcibly making the voltage regulation value UregAnd the frequency adjustment value fregAre respectively equal to the voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_limThe amplitude limiting value can be set according to practical application occasions.
The invention also discloses a current control-based induction motor VF control device, which comprises a current detection conversion module, an amplitude calculation module, a frequency regulation module, a voltage regulation module, a frequency setting module, a VF curve module and a PWM generation module;
the current detection conversion module is used for carrying out coordinate transformation on three-phase current;
the amplitude calculation module is used for calculating the current amplitude;
the frequency adjusting module is used for adjusting the given frequency value of the current system according to the actual current value;
the voltage adjusting module is used for adjusting the output voltage value of the current system according to the current actual value;
the frequency setting module is used for setting the target working frequency of the induction motor from the outside or the inside of the system according to the use working condition;
the VF curve module calculates the output voltage of the frequency converter according to the set target working frequency;
and the PWM generation module calculates and sends out pulse waves to enable the inverter to work according to the voltage and the frequency of the frequency converter, and three-phase current is generated to drive the induction motor.
The current detection and conversion module collects three-phase current as Ia、Ib、IcAnd for three-phase current I under a static coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd It；
An amplitude calculation module for calculating the amplitude of the transformed ImAnd ItAfter the amplitude of the current is calculated, filtering processing is carried out to filter noise signals to obtain the true value I of the motor currentfed。
Wherein, the voltage regulation module is used for regulating the voltage according to the real value I of the motor currentfedAnd a current set value IsetComparing the obtained difference values to obtain the output voltage U of the frequency converteroutRegulating value U ofregAnd configuring the regulating parameter G of the voltage regulating moduleu、Tu；
The frequency adjustment module is according to IfedAnd IsetTo obtain a set frequency fsetRegulating value fregAnd configuring the adjusting parameter G of the frequency adjusting modulef、Tf；
Wherein, the current set value I is set according to the frequency converter, the motor and the application working conditionsetCurrent set value IsetDefault to 150% of the motor rated current.
Wherein the value U is regulated by a voltageregTo the output voltage U of the frequency converteroutBy adjusting the value fregFor a set frequency fsetThe frequency converter automatically adjusts according to the adjusted output voltage Uout1The three-phase current I is input to the modulation ratio calculation, is inverted by the PWM generation module, and is regulated to be output by the frequency convertera、Ib、Ic。
Wherein the voltage regulation value UregThe amplitude limit value of the calculated result is Ureg_limWhen U is formedregExceeding voltage regulation amplitude limit value Ureg_limForcibly making the voltage regulation value UregEqual to voltage regulation amplitude limit value Ureg_lim。
Frequency adjustment value fregIs freg_limWhen f isregOut of frequency regulation amplitude limit freg_limForcing the frequency adjustment value fregEqual to the frequency regulation amplitude limit freg_lim。
Examples
Taking a three-phase induction motor with rated power of 7.5kW, rated frequency of 50Hz and rated current of 16.2A as an example, a traditional VF control mode and a novel VF control mode with current control are respectively adopted.
First, the target frequency of the induction motor operation is set to 25Hz, and the current setting value is set to 100% of the rated current of the induction motor.
1. When the traditional VF control mode is adopted, the induction motor is in an overcurrent running state through the design working condition. At the moment, the operating frequency of the motor does not reach 25Hz set by a system, and the current amplitude of the induction motor exceeds the rated current of the motor for a long time and reaches 130% of the rated current of the induction motor, so that the frequency of the induction motor is increased to 22Hz, the induction motor is powered off and stops due to overcurrent protection of a frequency converter, and the operating condition at the moment is recorded.
2. The method is switched to a novel VF control mode with current control, the induction motor operates under the same working condition, the current of the induction motor can be well inhibited, the induction motor can stably operate, the current in the induction motor does not exceed 100% of rated current all the time under the same working condition, and the induction motor finally reaches and stably operates at 25 Hz.
As shown in fig. 3 and 4, 1 represents the current amplitude and 2 represents the frequency.
As is apparent from comparison between fig. 3 and fig. 4, after the novel VF control method with current control according to the present invention is adopted, the over-current condition of the induction motor under VF control can be effectively controlled.
The parts not described in the specification are prior art or common general knowledge. The present embodiments are to be considered as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.
Claims (2)
1. A current control-based induction motor VF control method is characterized in that: the method comprises the following steps:
1) the current sampling circuit in the frequency converter collects the three-phase current flowing into the controlled motor in real time and then carries out transformation, amplitude calculation and filtering processing to obtain the real value I of the motor currentfed；
2) The real value I of the motor currentfedAnd a current set value IsetComparison of size according to IfedAnd IsetThe difference value of the current value and the current value is used for respectively obtaining the output voltage U of the frequency converter through a voltage regulation module for regulating the output voltage value of the current system by the current actual value and a frequency regulation module for regulating the frequency set value of the current system by the current actual valueoutRegulating value U ofregAnd a set frequency fsetRegulating value freg；
3) By regulating the value U by voltageregTo the output voltage U of the frequency converteroutAnd the frequency adjustment value fregFor a set frequency fsetThe frequency converter automatically outputs according to the regulated outputOutput voltage Uout1Calculating a modulation ratio, inverting the modulation ratio by a PWM (pulse width modulation) generation module, and adjusting the output three-phase current of the frequency converter;
in the step 1), the collected three-phase current is Ia、Ib、IcThe three-phase current I under the static coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd ItAnd according to transformed ImAnd ItAfter the amplitude of the current is calculated, filtering processing is carried out to filter noise signals;
in the step 2), a current set value I is set according to the frequency converter, the motor and the application working conditionsetCurrent set value IsetDefaults to 150% of rated current of the motor, and configures a regulating parameter G of a voltage regulating moduleu、TuAnd the regulation parameter G of the frequency regulation modulef、Tf(ii) a The adjusting module is used for rapidly adjusting the input signal to be consistent with a reference value under the action of an adjusting parameter G, T;
in the step 3), the voltage regulation value Ureg：
Ureg1＝Ureg0+Gu×[(Ifed1-Iset)-(Ifed0-Iset)]+Tu×(Ifed1-Iset)；
Frequency adjustment value freg：
freg1＝freg0+Gf×[(Ifed1-Iset)-(Ifed0-Iset)]+Tf×(Ifed1-Iset)；
The output voltage of the frequency converter after modulation is Uout1＝Uout0+Ureg1；
The adjusted frequency converter is set to have the frequency fset1＝fset0+freg1；
Wherein, subscript 0 represents the last calculated value, and subscript 1 represents the present calculated value;
in the step 3), the voltage regulating value UregSum frequencyRate adjustment value fregThe calculated result has a clipping value of Ureg_limAnd freg_limWhen U is formedregAnd fregExceeding voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_limIn time, forcibly making the voltage regulation value UregAnd the frequency adjustment value fregAre respectively equal to the voltage regulation amplitude limit value Ureg_limAnd frequency regulation amplitude limit freg_lim。
2. A current control based induction motor VF control apparatus using the method of claim 1, characterized by: the device comprises a current detection and conversion module, an amplitude calculation module, a frequency regulation module, a voltage regulation module, a frequency setting module, a VF curve module and a PWM generation module;
the current detection conversion module is used for carrying out coordinate transformation on three-phase current;
the amplitude calculation module is used for calculating the current amplitude;
the frequency adjusting module is used for adjusting the given frequency value of the current system according to the actual current value;
the voltage adjusting module is used for adjusting the output voltage value of the current system according to the current actual value;
the frequency setting module is used for setting the target working frequency of the induction motor from the outside or the inside of the system according to the use working condition;
the VF curve module calculates the output voltage of the frequency converter according to the set target working frequency;
the PWM generation module calculates and sends out pulse waves to enable the inverter to work according to the voltage and the frequency of the frequency converter, and three-phase current is generated to drive the induction motor;
the current detection conversion module collects three-phase current as Ia、Ib、IcAnd for three-phase current I under a static coordinate systema、Ib、IcCoordinate transformation is carried out to obtain two-phase current I under a rotating coordinate systemmAnd It；
An amplitude calculation module for calculating the amplitude of the transformed ImAnd ItAmplitude of the calculated currentAfter the value is obtained, filtering processing is carried out to filter noise signals to obtain the true value I of the motor currentfed；
The voltage regulating module is used for regulating the voltage according to the actual value I of the motor currentfedAnd a current set value IsetComparing the obtained difference values to obtain the output voltage U of the frequency converteroutRegulating value U ofregAnd configuring the regulating parameter G of the voltage regulating moduleu、Tu；
The frequency adjustment module is according to IfedAnd IsetTo obtain a set frequency fsetRegulating value fregAnd configuring the adjusting parameter G of the frequency adjusting modulef、Tf；
Wherein, the current set value I is set according to the frequency converter, the motor and the application working conditionsetCurrent set value IsetDefaulting to 150% of rated current of the motor;
in the voltage regulation module, a voltage regulation value U is passedregTo the output voltage U of the frequency converterout(iii) adjustment of (c);
in the frequency adjustment module, the frequency adjustment value f is adjustedregFor a set frequency fset(iii) adjustment of (c);
the frequency converter automatically adjusts the output voltage U according to the voltage adjusting moduleout1Regulating the three-phase current I output by the frequency convertera、Ib、Ic；
In the voltage regulation module, a voltage regulation value UregThe amplitude limit value of the calculated result is Ureg_limWhen U is formedregExceeding voltage regulation amplitude limit value Ureg_limForcibly making the voltage regulation value UregEqual to voltage regulation amplitude limit value Ureg_lim；
In the frequency adjustment module, a frequency adjustment value fregIs freg_limWhen f isregOut of frequency regulation amplitude limit freg_limForcing the frequency adjustment value fregEqual to the frequency regulation amplitude limit freg_lim。
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| CN1567707A (en) * | 2003-07-09 | 2005-01-19 | 烟台惠丰电子有限公司 | Current feedback control method for high-performance universal asynchronous motor |
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