CN108667380A - A kind of motor speed overshoot control system - Google Patents
A kind of motor speed overshoot control system Download PDFInfo
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- CN108667380A CN108667380A CN201810500486.3A CN201810500486A CN108667380A CN 108667380 A CN108667380 A CN 108667380A CN 201810500486 A CN201810500486 A CN 201810500486A CN 108667380 A CN108667380 A CN 108667380A
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- speed
- motor
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- rotating speed
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of motor speed overshoot control systems, including controller, power conversion modules, power conversion modules are connect with controller, external motor load respectively, and controller controls power conversion modules driving motor load running according to given rotating speed v0 modulation duty cycle signals；It is characterized in that：Delay parameter t is preset on the controller, controller according to delay parameter t by the energization section of every phase duty cycle signals to braking section after prolong delay parameter t to inhibit motor load overshoot, braking effect caused by the design increases with motor speed and enhances automatically, without the independent calculation processing of software, to inhibit speed overshoot, performance requirement of the system to hardware is reduced, simplify tuning parameter complexity, under the low speed, speed feedback responds especially slow operating mode, and effect is especially apparent.
Description
Technical field
The present invention relates to electric machine control system, especially a kind of control system of reply motor speed overshoot.
Background technology
In traditional motor speed regulation system, generally it is made of controller, power conversion modules, controller is according to given rotating speed
The control power conversion modules driving motor load running of v0 modulation duty cycle signals generally also divides according to the difference of control object
For three feedback control loops, i.e. position ring, speed ring, electric current loop (being also torque ring).When control object is that motor output is turned round
When square, an electric current loop is only needed；When it is motor speed to brake object, it can also be that electric current loop is done that loop, which can only have speed ring,
Inner ring, speed ring does the loop combination of outer shroud, when control object is electric machine rotor relative position, is then done by position ring outer
Inner ring is done in the combination of ring, speed ring or speed ring and electric current loop.Other than individual moment of torsion control, position, speed control are both needed to
The speed overshoot risk caused by the load sudden change.
Existing motor speed regulation system is directed to the control method of speed overshoot and steps are as follows：
The PI parameters of der Geschwindigkeitkreis are adjusted, der Geschwindigkeitkreis response speed is improved；
If there is current inner loop, the PI parameters of electric current loop are adjusted, improve electric current loop response speed；
Calculation, the method for feedback of regulating the speed improve der Geschwindigkeitkreis response speed.
If higher in hardware platform performance level, in the larger application of system inertia, have the effect of it is good, but if
System is cost limited and system inertia is smaller, and the above method is extremely difficult to expected performance, effect.
Traditional control method due to loop response speed and the processing speed of hardware, feedback speed positive correlation, in order to
Reach preferable effect to need to increase hardware cost, need the parameter carried out to calculate more, the combination of loop parameter is more, debugging
Difficulty is big so that traditional control method is extremely complex, is susceptible to control disorder.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of by that will be used for the duty cycle signals of driving
Energization section to braking section after prolong delay parameter t to inhibit the control system of motor load overshoot.
The technical solution adopted by the present invention is：
A kind of motor speed overshoot control system, including controller, power conversion modules, power conversion modules respectively with control
The motor load connection of device, outside processed, controller control power conversion modules according to given rotating speed v0 modulation duty cycle signals and drive
Dynamic motor load operation；Delay parameter t is preset on the controller, controller will be believed according to delay parameter t per phase duty ratio
Number energization section to braking section after prolong delay parameter t to inhibit motor load overshoot.
Further include Rotating speed measring module, Rotating speed measring module is connect with motor load, controller respectively, Rotating speed measring module
It detects the actual speed vt of motor load and is input in controller to form speed feedback.
Further include the motor status monitoring modular being connect with Rotating speed measring module, the motor status monitoring modular is according to reality
Whether the variation of rotating speed vt judges motor in acceleration or deceleration regime.
The controller is according to given rotating speed v0 and required braking moment ratio δ computation delay parameters t, wherein required system
Kinetic moment ratio δ is formulated according to motor given rotating speed v0 and preset permission speed overshoot range.
The controller judges whether motor load accelerates, if motor load does not accelerate, judges that actual speed vt is
It is no to be reached or fallen below given rotating speed v0, it, will be per phase duty ratio letter if actual speed vt is reached or fallen below given rotating speed v0
Number energization section to braking section after prolong delay parameter t.
Low engine speed range section is provided in the controller, the controller judges whether motor load accelerates, if motor
It is supported on acceleration, then judges whether given rotating speed v0 is in low engine speed range section, if given rotating speed v0 is in low engine speed range section,
Then by the energization section of every phase duty cycle signals to braking section after prolong delay parameter t.
If motor load is accelerating, judge whether given rotating speed v0 is in low engine speed range section, if given rotating speed v0 is not
In low engine speed range section, then actual speed vt is judged whether up to or over given rotating speed v0, if actual speed vt reaches
Or be more than given rotating speed v0, then energization section of the controller per phase duty cycle signals is to prolonging delay parameter t behind braking section.
Beneficial effects of the present invention：
Control system of the present invention, controller are directly modulated the duty cycle signals for being output to power conversion modules, and
The mode of modulation be by the energization section of every phase duty cycle signals to braking section after prolong delay parameter t to inhibit motor load to surpass
It adjusts, for example, in the case where rotating speed reaches v0, then duty cycle signals energization section is extended into a delay parameter t to braking section, at this time
T assumes to account for the 5% of braking interval time, then when rotating speed moment overshoot is to 2 times of v0, t has accounted for the 10% of braking interval time, system
Kinetic moment doubles, and overshoot damping doubles, and the braking effect caused by delay parameter t increases with motor speed and enhances automatically, nothing
The independent calculation processing of software is needed, to inhibit speed overshoot, is not necessarily to carry out extra calculating herein, is independently of electric current loop calculating
And der Geschwindigkeitkreis calculating, without being decoupled to wherein parameter, controller can directly react, within several position signal periods
Response, and the bigger inhibition of overshoot is stronger, so as to form the function similar to negative-feedback, reduces system and is wanted to the performance of hardware
It asks, simplifies tuning parameter complexity, under the low speed, speed feedback responds especially slow operating mode, and effect is especially apparent.
Description of the drawings
The specific implementation mode of the present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram of motor speed feedback control system of the present invention.
Fig. 2 is the schematic diagram of the position sensor signal and energization logic of motor speed overshoot control system of the present invention.
Fig. 3 is the control flow chart of motor speed overshoot control system of the present invention.
Specific implementation mode
As shown in Figure 1-Figure 3, motor speed overshoot control system of the present invention, including controller, power conversion modules, power
Conversion module is electrically connected with controller, external motor load respectively, and controller includes conventional overshoot feedback control system
In speed ring computing unit, electric current loop computing unit, and based on PI adjust carry out operation, controller is according to given rotating speed v0
Modulation duty cycle signal controls power conversion modules driving motor load running；
Delay parameter t, controller leading to every phase duty cycle signals according to delay parameter t are preset on the design controller
Electric section to braking section after prolong delay parameter t to inhibit motor load overshoot.
Controller is directly modulated the duty cycle signals for being output to power conversion modules, and modulate mode be will be every
The energization section of phase duty cycle signals to braking section after prolong delay parameter t to inhibit motor load overshoot, for example, in turn up
To under v0, then duty cycle signals energization section is extended into a delay parameter t to braking section, t hypothesis at this time accounts for braking section
The 5% of time, then when rotating speed moment overshoot is to 2 times of v0, t has accounted for the 10% of braking interval time, and braking moment doubles, overshoot
Inhibition doubles, and the braking effect caused by delay parameter t increases with motor speed and enhances automatically, at software individually calculating
Reason is not necessarily to carry out extra calculating herein to inhibit speed overshoot, is independently of electric current loop calculating and der Geschwindigkeitkreis calculates
, without being decoupled to wherein parameter, controller can directly react, and be responded within several position signal periods, and overshoot is got over
It is big to inhibit stronger, so as to form the function similar to negative-feedback, performance requirement of the system to hardware is reduced, simplifies debugging
Parameter complexity, under the low speed, speed feedback respond especially slow operating mode, and effect is especially apparent.
The design further includes Rotating speed measring module, and Rotating speed measring module is connect with motor load, controller respectively, rotating speed inspection
It surveys the actual speed vt of module detection motor load and is input in controller to form speed feedback.
Further include the motor status monitoring modular being connect with Rotating speed measring module, the motor status monitoring modular is according to reality
The variation of rotating speed vt judges that motor whether in acceleration or deceleration regime, so that it is determined that at the time of enabling delay parameter t, reaches
Inhibit the purpose of speed overshoot without influencing motor acceleration, deceleration..
Further, the design further includes current detection module, and the electric current of current detection module detection motor load is simultaneously defeated
Enter into controller to form speed feedback.
Controller is according to given rotating speed v0 and required braking moment ratio δ computation delay parameters t, wherein required brake force
Moment ratio δ is formulated according to motor given rotating speed v0 and preset permission speed overshoot range.
Wherein, preset permission speed overshoot range is that staff records actual speed signal waveform, when curve quilt
After capturing, the amplitude of rising edge is seen to obtain overshoot, thus set according to different motor inherent characteristics
Range, and then it is to combine to allow on the basis of given rotating speed v0 to calculate required braking moment ratio δ by braking moment computing unit
The value that speed overshoot range obtains.
Simultaneously delay parameter t according to the design parameter difference of motor by being accordingly calculated, wherein assuming that rotor number of poles
For p, then every mutually every turn of motor has p power cycles, and given speed is v0, and motor speed per second is n, and motor is per mutually every phase
Power cycles number is Np=p*n, and thus power cycles are just T=1/Np=1/p*n, while corresponding to configuration according to every motor
Braking moment ratio δ, braking moment ratio δ is that delay parameter t is accounted in power cycles at this time, brakes the ratio of half cycle, i.e. δ=2t/T,
Thus t=δ/2*p*n.
And based on the design by the energization section of duty cycle signals to braking section after prolong delay parameter t to inhibit motor to bear
The method of overshoot is carried, it can be achieved that multiple control modes, wherein the one that a variety of assortable control means are given below is implemented
Example.
It is illustrated in figure 3 the main-process stream in conjunction with various control means, the controller judges whether motor load accelerates, if
Motor load does not accelerate, then judges whether actual speed vt is reached or fallen below given rotating speed v0, if actual speed vt reaches
Or be less than given rotating speed v0, then the energization section of every phase duty cycle signals is added herein to delay parameter t is prolonged after braking section
Speed can also be set as slowing down；
Also, low engine speed range section is provided in controller, the controller judges whether motor load accelerates, if motor
It is supported on acceleration, then judges whether given rotating speed v0 is in low engine speed range section, if given rotating speed v0 is in low engine speed range section,
Then by the energization section of every phase duty cycle signals to braking section after prolong delay parameter t.
Meanwhile if motor load is accelerating, judge whether given rotating speed v0 is in low engine speed range section, if given rotating speed v0
It is not in low engine speed range section, then judges actual speed vt whether up to or over given rotating speed v0, if actual speed vt
Up to or over given rotating speed v0, then energization section of the controller per phase duty cycle signals is to prolonging delay parameter behind braking section
t；
The foregoing is merely the preferred embodiments of the present invention, and the present invention is not limited to the above embodiments, as long as with
Essentially identical means realize that the technical solution of the object of the invention belongs within protection scope of the present invention.
Claims (7)
1. a kind of motor speed overshoot control system, including controller, power conversion modules, power conversion modules respectively with control
Device, the connection of external motor load, controller control power conversion modules according to given rotating speed v0 modulation duty cycle signals and drive
Motor load is run；It is characterized in that：Delay parameter t is preset on the controller, controller will be per phase according to delay parameter t
The energization section of duty cycle signals to braking section after prolong delay parameter t to inhibit motor load overshoot.
2. a kind of motor speed overshoot control system according to claim 1, it is characterised in that：It further include Rotating speed measring mould
Block, Rotating speed measring module are connect with motor load, controller respectively, and Rotating speed measring module detects the actual speed vt of motor load
And it is input in controller to form speed feedback.
3. a kind of motor speed overshoot control system according to claim 2, it is characterised in that：Further include and Rotating speed measring
Whether the motor status monitoring modular of module connection, the motor status monitoring modular judge motor according to the variation of actual speed vt
In acceleration or deceleration regime.
4. a kind of motor speed overshoot control system according to claim 3, it is characterised in that：The controller is according to giving
Determine rotating speed v0 and required braking moment ratio δ computation delay parameters t, wherein required braking moment ratio δ is according to motor given rotating speed
V0 and preset permission speed overshoot range are formulated.
5. a kind of motor speed overshoot control system according to claim 4, it is characterised in that：The controller judges electricity
Whether machine load accelerates, if motor load does not accelerate, judges whether actual speed vt is reached or fallen below given rotating speed v0,
If actual speed vt is reached or fallen below given rotating speed v0, by the energization section of every phase duty cycle signals to braking section after prolong
Delay parameter t.
6. a kind of motor speed overshoot control system according to claim 4, it is characterised in that：It is arranged in the controller
There are low engine speed range section, the controller to judge whether motor load accelerates, if motor load is accelerating, judges given rotating speed
Whether v0 is in low engine speed range section, if given rotating speed v0 is in low engine speed range section, by the energization of every phase duty cycle signals
Section to braking section after prolong delay parameter t.
7. a kind of motor speed overshoot control system according to claim 6, it is characterised in that：If motor load is adding
Speed, judges whether given rotating speed v0 judges in low engine speed range section if given rotating speed v0 is not in low engine speed range section
Whether actual speed vt is up to or over given rotating speed v0, if actual speed vt is controlled up to or over given rotating speed v0
Energization section of the device processed per phase duty cycle signals is to prolonging delay parameter t behind braking section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810500486.3A CN108667380B (en) | 2018-05-23 | 2018-05-23 | Motor rotating speed overshoot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810500486.3A CN108667380B (en) | 2018-05-23 | 2018-05-23 | Motor rotating speed overshoot control system |
Publications (2)
| Publication Number | Publication Date |
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| CN108667380A true CN108667380A (en) | 2018-10-16 |
| CN108667380B CN108667380B (en) | 2021-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810500486.3A Active CN108667380B (en) | 2018-05-23 | 2018-05-23 | Motor rotating speed overshoot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113138613A (en) * | 2021-04-13 | 2021-07-20 | 合肥巨一动力系统有限公司 | Method for reducing over-regulation of rotating speed of twin-dragging system |
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| GB2308464B (en) * | 1995-12-20 | 1998-03-11 | Samsung Electronics Co Ltd | Drive control circuit for a voice coil motor |
| US20040263095A1 (en) * | 2003-06-24 | 2004-12-30 | Min Byoung Own | Backlight inverter for liquid crystal display panel of asynchronous pulse width modulation driving type |
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| CN101938240A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Electric motor control device and image forming apparatus |
| CN101950949A (en) * | 2010-08-23 | 2011-01-19 | 乌云翔 | Short-circuit shutoff method for insulated gate bipolar transistor (IGBT) of high-power current transformer |
| CN103775712A (en) * | 2012-10-18 | 2014-05-07 | 柳曦 | Parameter rapidly self-adjusting method of intelligent valve positioner |
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2018
- 2018-05-23 CN CN201810500486.3A patent/CN108667380B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2308464B (en) * | 1995-12-20 | 1998-03-11 | Samsung Electronics Co Ltd | Drive control circuit for a voice coil motor |
| US20040263095A1 (en) * | 2003-06-24 | 2004-12-30 | Min Byoung Own | Backlight inverter for liquid crystal display panel of asynchronous pulse width modulation driving type |
| CN101154909A (en) * | 2006-09-25 | 2008-04-02 | 罗姆股份有限公司 | Electric drive circuit, drive device and electronic equipment |
| CN101938240A (en) * | 2009-06-30 | 2011-01-05 | 佳能株式会社 | Electric motor control device and image forming apparatus |
| CN101738491A (en) * | 2009-12-28 | 2010-06-16 | 广东电网公司电力科学研究院 | Method and device for acquiring characteristic value of steam turbo-generator rotor |
| CN101950949A (en) * | 2010-08-23 | 2011-01-19 | 乌云翔 | Short-circuit shutoff method for insulated gate bipolar transistor (IGBT) of high-power current transformer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113138613A (en) * | 2021-04-13 | 2021-07-20 | 合肥巨一动力系统有限公司 | Method for reducing over-regulation of rotating speed of twin-dragging system |
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| CN108667380B (en) | 2021-05-04 |
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