CN109450207A - Machining equipment and its control method - Google Patents
Machining equipment and its control method Download PDFInfo
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- CN109450207A CN109450207A CN201811632575.XA CN201811632575A CN109450207A CN 109450207 A CN109450207 A CN 109450207A CN 201811632575 A CN201811632575 A CN 201811632575A CN 109450207 A CN109450207 A CN 109450207A
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- Prior art keywords
- asynchronous machine
- phase
- magnetic linkage
- induction
- voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K17/00—Asynchronous induction motors; Asynchronous induction generators
- H02K17/02—Asynchronous induction motors
- H02K17/32—Structural association of asynchronous induction motors with auxiliary mechanical devices, e.g. with clutches or brakes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- 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
- 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
- H02P27/06—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 using dc to ac converters or inverters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the invention provides a kind of machining equipment and its control method, it is related to being driven control technology field, incudes driving element of the asynchronous machine as machining equipment by making；Since permanent magnet is not present in induction asynchronous machine；When the case where incuding asynchronous machine appearance power-off suddenly, the end for incuding asynchronous machine will not generate induced voltage；Pass through driving element of the permanent magnet synchronous motor as machining equipment in compared to the prior art；If there is the case where power-off suddenly, it is hardly damaged equipment.Further, the price of permanent magnet synchronous motor is more more expensive than induction asynchronous machine, and corresponding maintenance price is also just more expensive.And the high failure rate of permanent magnet synchronous motor is in induction asynchronous machine, in turn, the embodiment of the present invention uses induction asynchronous machine to use permanent magnet synchronous motor higher as the driving element practicability of machining equipment compared to the prior art as the scheme of the driving element of machining equipment.
Description
Technical field
The present invention relates to transmission control technology fields, in particular to a kind of machining equipment and its control method.
Background technique
Machining equipment mainly processes mechanical organ, can be wide if press machine is a kind of machining equipment
It is general to be applied to the techniques such as cutting, punching, blanking, bending, riveted and forming.Machining equipment is strong by applying to metal blank
Big pressure makes metal that plastic deformation occur and be broken to be processed into part.Machining equipment is when being worked, by driving
Element drives slide block movement to process part.But existing machinery process equipment is added using permanent magnet synchronous motor as mechanical
The driving element of construction equipment.But due to containing permanent magnet in permanent magnet synchronous motor, in permanent magnet synchronous motor work, if occurring
The case where power-off, easily generates induced voltage in the end of permanent magnet synchronous motor, and then is easily damaged equipment.
Summary of the invention
The embodiment of the present invention is to provide a kind of machining equipment and its control method, can alleviate the above problem.
In order to alleviate above-mentioned problem；The technical solution that the embodiment of the present invention is taken is as follows:
In a first aspect, a kind of machining equipment provided in an embodiment of the present invention comprising main controller；Frequency converter is used for
Receive the position control instruction that the main controller is sent；Incude asynchronous machine, is connect with frequency converter；Rotary encoder, and it is described
Incude the shaft connection of asynchronous machine, the rotary encoder is used to measure the position of the rotor of the induction asynchronous machine and turns
Speed, and the position and revolving speed are sent to the frequency converter；Transmission mechanism, one end of the transmission mechanism and the asynchronous electricity of induction
The shaft of machine connects；Movable block is connect with the other end of the transmission mechanism；Wherein, the frequency converter is also used to based on described
Position, revolving speed and position control instruction control position and the revolving speed of the shaft.
In the scheme of the embodiment of the present invention, use feeling answers driving element of the asynchronous machine as machining equipment, and
There is no the presence of permanent magnet in induction asynchronous machine；It can't at the both ends of induction asynchronous machine when there is the case where power-off suddenly
Induced voltage is generated, and then equipment will not be damaged, therefore is added compared to the prior art using magneto as machinery
The driving element of construction equipment is more safe.
Optionally, the machining equipment further include: measuring device, the measuring device are connect with the main controller,
The measuring device is used to measure the location information of the movable block, and the location information is sent to the main controller, institute
Main controller is stated for the position control being generated and being instructed based on the location information.
In the scheme of the embodiment of the present invention, the setting of measuring device can accurately obtain the location information of movable block,
And then it can be controlled in order to the rotation speed of the shaft to induction asynchronous machine.
Optionally, the frequency converter includes: inverter, is connect with the induction asynchronous machine；Control circuit, with the master
Control device, the inverter and the encoder that chooses to install are all connected with, for according to the rotor of the induction asynchronous machine of acquisition
The position control instruction that position and revolving speed and the main controller are sent generates voltage commands, and the voltage commands are sent
To the inverter；Wherein, the inverter is used to change according to the voltage commands output to the induction asynchronous machine
The size of three-phase alternating current.
In the scheme of the embodiment of the present invention, inverter can control output to the three-phase alternating current for incuding asynchronous machine
Size, and control circuit can send the size of the three-phase alternating current of voltage commands control inverter output.
Optionally, the inverter includes:
Rectified three-phase circuit is connect with power grid, for alternating current to be changed into direct current；
Filter circuit is connect with the rectified three-phase circuit, for the direct current to be filtered；
Three-phase inverting circuit is all connected with the filter circuit, the induction asynchronous machine and the control circuit, is used for
The direct current after filtering processing is converted into the three-phase alternating current, and the size based on voltage in the voltage commands changes
Become the size of output to the three-phase alternating current for incuding asynchronous machine, wherein the three-phase alternating current is for adjusting institute
State torque, revolving speed and the angle of the shaft of induction asynchronous machine.
Second aspect, the embodiment of the invention provides a kind of control methods, applied to machine described in above-mentioned first aspect
Tool process equipment, which comprises the control circuit obtain it is described induction asynchronous machine rotor position and revolving speed and
The position control instruction generates voltage commands,
Inverter changes the size of output to the three-phase alternating current for incuding asynchronous machine according to the voltage commands；
Wherein, by the size of the three-phase alternating current for controlling the induction Rotational Speed of Asynchronous Motor.
Optionally, the control circuit obtain it is described induction asynchronous machine rotor position and revolving speed and the position control
System instruction generates voltage commands, comprising:
Position, revolving speed and position control instruction based on the rotor are generated for controlling the induction asynchronous machine
The speed command of spinner velocity；
Magnetic linkage order is generated based on the speed command；
Torque command is generated based on the speed command and the revolving speed；
Obtain the phase current values of the induction asynchronous machine；
Phase current values based on the torque command, the magnetic linkage order, the induction asynchronous machine generate voltage commands.
It is optionally, described that torque command is generated based on the speed command and the revolving speed, comprising:
The speed that the speed command is characterized is compared into acquisition speed error signal with the revolving speed, based on described
Speed error signal generates the torque command.
Optionally, described raw based on the torque command, the magnetic linkage order, the phase current values of the induction asynchronous machine
At voltage commands, comprising:
Obtain the magnetic linkage angle of the induction asynchronous machine；
Phase current values and the magnetic linkage angle based on the induction asynchronous machine obtain magnetic linkage electric current and torque current；
Magnetic linkage voltage is generated based on the magnetic linkage order and the magnetic linkage electric current, is based on torque command and the torque current
Generate torque voltage；
The voltage commands are generated based on the magnetic linkage voltage, the torque voltage and the magnetic linkage angle.
Optionally, it is described based on it is described induction asynchronous machine phase current values and the magnetic linkage angle obtain magnetic linkage electric current and
Torque current, comprising:
The phase current values are subjected to three-phase two-phase coordinate transform based on the magnetic linkage angle and obtain two-dimensional quadrature coordinate system
In electric current,
The magnetic linkage electric current and the torque current are generated based on the electric current in the two-dimensional quadrature coordinate system.
Optionally, described that the voltage life is generated based on the magnetic linkage voltage, the torque voltage and the magnetic linkage angle
It enables, comprising:
The magnetic linkage voltage and the torque voltage coordinate transform of two-phase three-phase is carried out based on the magnetic linkage angle to generate
Three-phase voltage signal；
The voltage commands are generated based on the three-phase voltage signal.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, the embodiment of the present invention is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of connection schematic diagram of machining equipment provided in an embodiment of the present invention；
Fig. 2 is the connection schematic diagram of another machining equipment provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of control method provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another control method provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of another control method provided in an embodiment of the present invention.
Appended drawing reference summarizes:
10- machining equipment；100- main controller；200- frequency converter；220- inverter；222- three phase rectifier electricity
Road；224- filter circuit；226- three-phase inverting circuit；240- control circuit；300- incudes asynchronous machine；350-rotations are compiled
Code device；400- transmission mechanism；500- movable block；600- measuring device.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, without
It can be interpreted as indication or suggestion relative importance.
Referring to Fig. 1, embodiment of the present invention provides a kind of machining equipment 10, the machining equipment 10 packet
It includes:
Main controller 100；The frequency converter 200 connecting with main controller 100, frequency converter 200 are used to receive the transmission of main controller 100
Position control instruction.
Incude asynchronous machine 300, is connect with frequency converter 200.
Rotary encoder 350 is connect with the shaft of induction asynchronous machine 300, and rotary encoder 350 is different for measuring induction
Position and the revolving speed of the rotor of motor 300 are walked, and position and revolving speed are sent to frequency converter 200.
One end of transmission mechanism 400, transmission mechanism 400 is connect with the shaft of induction asynchronous machine 300；Movable block 500, with
The other end of transmission mechanism 400 connects.
Wherein, frequency converter 200 be also used to position based on rotor, revolving speed and position control instruction control shaft position and
Revolving speed.
In embodiments of the present invention, driving element of the induction asynchronous machine 300 as machining equipment 10；Incude asynchronous
Motor 300 drives the movable block 500 of machining equipment 10 to move by transmission mechanism 400, and the extruding to mold may be implemented
Molding.Simultaneously as permanent magnet is not present in induction asynchronous machine 300；There are the feelings powered off suddenly in induction asynchronous machine 300
When condition, the end of induction asynchronous machine 300 can generate induced voltage；Pass through permanent magnet synchronous motor conduct in compared to the prior art
The driving element of machining equipment 10；If there is the case where power-off suddenly, it is hardly damaged equipment.Further, permanent magnetism is same
The price for walking motor is more more expensive than induction asynchronous machine 300, and corresponding maintenance price is also just more expensive.And permanent magnet synchronous electric
The high failure rate of machine is in induction asynchronous machine 300, and in turn, the embodiment of the present invention uses induction asynchronous machine 300 as mechanical
The scheme of the driving element of process equipment 10 uses permanent magnet synchronous motor as machining equipment 10 compared to the prior art
Driving element practicability is higher.
The mobile processing that may be implemented to mold of the movable block 500 of machining equipment 10, mold can be steel, timber
Deng, and processing then may include being cut off, being squeezed to mold.It, can when machining equipment 10 processes mold
It is instructed with sending position control by main controller 100 to frequency converter 200, frequency converter 200 receives the position control of the transmission of main controller 100
After system instruction, the shaft of control induction asynchronous machine 300 is rotated.The shaft rotation of induction asynchronous machine 300 will pass through transmission
Mechanism 400 drives movable block 500 to move, and then realizes the processing to mold.
When the shaft rotation for incuding asynchronous machine 300 drives movable block 500 to move, encoder is different by real time monitoring induction
Revolving speed and the position of the rotor of motor 300 are walked, and the real-time revolving speed of rotor for incuding asynchronous machine 300 and position are sent to change
Frequency device 200.Frequency converter 200 can be according to the real-time revolving speed of rotor and revolving speed and the position of position acquisition shaft, and frequency converter 200
The shaft that can control induction asynchronous machine 300 is rotated in preset revolving speed, the revolving speed for avoiding the occurrence of shaft it is too low and
Extend process time or revolving speed is excessively high and cause braking difficult.It should be noted that in induction asynchronous machine 300, rotor
Revolving speed and position can intuitively react revolving speed and the position of shaft.
Transmission mechanism 400 may include: gear and crank connecting link, and gear is connected with crank connecting link, and gear and induction are different
The shaft connection of motor 300 is walked, crank connecting link connect with movable block 500, and then when shaft then can be with when being rotated
Movable block 500 is driven to be moved.
Optionally, machining equipment 10 in embodiments of the present invention can be press machine.
Optionally, machining equipment 10 further include: measuring device 600 is connect, measuring device with the main controller 100
600 are sent to main controller 100 for measuring the location information of movable block 500, and by location information, and main controller 100 is for being based on
Location information generates position control instruction.
Measuring device 600 can be displacement ruler, and the location information of movable block 500 is sent to by measuring device 600 in real time
Main controller 100, main controller 100 are instructed position control is sent to frequency converter 200 according to the variation of location information.For example, to
Movable block 500 is displaced 30cm, main controller 100 will generate position control instruction at this time, and position control instruction is sent to
Frequency converter 200, frequency converter 200 instruct the rotation by the shaft of control induction asynchronous machine 300 to drive and live based on this position control
Motion block 500 is displaced.At this point, need to only guarantee the revolving speed for incuding the shaft of asynchronous machine 300 in default range.It is described pre-
If range can be set according to the actual conditions of machining equipment 10, it is not defined herein, for example, can be
Less than 100 revs/min.In general, incuding the shaft of asynchronous machine 300 at this time to reduce to the formed in mould time
Rotation speed is very fast.When measuring device 600 monitors that movable block 500 is displaced 20cm, that is, only have from final target position
When 10cm, main controller 100 will generate position control instruction again at this time, and position control instruction is sent to frequency converter 200,
Frequency converter 200 instructs based on this position control and incudes at this time the speed of the rotor of asynchronous machine 300 and position control induction different
Walk the change of the rotation speed of the shaft of motor 300.Because when terminal of the movable block 500 close to stroke, in other words, that is,
When movable block 500 will be moved to 30cm, if still keeping and the consistent movement velocity in front, it would be possible to can be due to excessively high revolving speed
And cause not braking, and then cause biggish error during formed in mould, lead to mold molding failure.Certainly,
Position control instruction can be sent again when movable block 500 is displaced 25cm, frequency converter 200 can refer to based on this position control
The shaft by control induction asynchronous machine 300 is enabled to slow down revolving speed.
It should be noted that being merely illustrative of a kind of position control instruction generation side in embodiments of the present invention above
Formula；Again in specific embodiment, the generating mode of the distance and position control of the displacement of movable block 500 instruction and without limit
Fixed, for example, movable block 500 can move 40cm, wherein the every movement 5cm of movable block 500 then generates a position to main controller 100
Control instruction is simultaneously sent to frequency converter 200.Certainly, in a specific embodiment, it is also possible to measuring device 600 to monitor in real time
The motion conditions of movable block 500, and main controller 100 can generate position control in real time and instruct and be sent to frequency converter 200.
Optionally, referring to Fig. 2, the frequency converter 200 may include: inverter 220, connect with induction asynchronous machine 300
It connects.
Control circuit 240 is all connected with main controller 100, inverter 220 and rotary encoder 350, different for obtaining induction
The position control instruction that the position and revolving speed and main controller 100 for walking the rotor of motor 300 are sent generates voltage commands, and by voltage
Order is sent to the inverter 220.
Wherein, inverter 220 is used to change output to the three-phase alternating current for incuding asynchronous machine 300 according to voltage commands
Size.
When incuding the change of the size of three-phase alternating current of asynchronous machine 300, the rotating excitation field in asynchronous machine 300 is incuded
Size just will change；And then the revolving speed for incuding the rotor of asynchronous machine 300 will change, then incude turning for asynchronous machine 300
The revolving speed of son will change, and then the revolving speed for incuding 300 shaft of asynchronous machine will also change.Therefore, control three can be passed through
The size of phase alternating current come control induction asynchronous machine 300 shaft rotation speed.When the movement velocity for needing movable block 500
When quicker, the electric current flow valuve of output to the three-phase alternating current for incuding asynchronous machine 300 can be increased；At this point, induction is different
When the shaft of step motor 300 can rotate quicker, and then the movement velocity of movable block 500 also just becomes faster.Conversely, needing to live
When the movement velocity of motion block 500 is slow, the electric current of output to the three-phase alternating current for incuding asynchronous machine 300 can reduce
Flow valuve.
Optionally, the inverter 220 includes:
Rectified three-phase circuit 222, connect with power grid, for alternating current to be changed into direct current.Power grid can be 220V friendship
Galvanic electricity or 380V alternating current are not defined.
Filter circuit 224 is connect with rectified three-phase circuit 222, for direct current to be filtered.
Three-phase inverting circuit 226 is all connected with filter circuit 224, induction asynchronous machine 300 and control circuit 240, is used for
Direct current after filtering processing is converted into three-phase alternating current, and output is changed extremely based on the size of voltage in the voltage commands
The size of the three-phase alternating current of the induction asynchronous machine 300, wherein the three-phase alternating current is asynchronous for adjusting the induction
Torque, revolving speed and the angle of the shaft of motor 300.
Metal-oxide-semiconductor in three-phase inverting circuit 226 can choose whether to be connected by the size of voltage in voltage commands.?
Direct current after filtering will be by that will generate three-phase alternating current after three-phase inverting circuit 226, due to passing through electricity in voltage commands
The size of pressure is come the frequency for the three-phase alternating current for controlling the working condition of three-phase inverting circuit 226, and then exporting frequency converter 200
It is adjustable with voltage.
The embodiment of the invention also provides the revolving speed control modes that second incudes 300 shaft of asynchronous machine, and do not use
The speed of the rotor of 350 pairs of induction asynchronous machines 300 of rotary encoder and position obtain, therefore to induction asynchronous machine
It is only capable of in 300 control through acquisition electric machine phase current and determines rotor-position using position estimation algorithm；200 base of frequency converter
Change output in turn to induction asynchronous machine in the position control of the position control information combination rotor sent from main controller 100
The size of 300 three-phase alternating current realizes the control of the rotation speed of the shaft to induction asynchronous machine 300.Due to rotor position
Setting is estimated value, therefore, the control mode of the rotation speed of the shaft of such induction asynchronous machine 300, in the rotation of shaft
Speed is low speed and when close to the case where zero-speed, and control effect is simultaneously not as good as utilizing 350 pairs of induction asynchronous machines 300 of rotary encoder
Position and revolving speed obtained, by position, revolving speed and position control instruction control to induction 300 shaft of asynchronous machine rotation
The control mode that rotary speed is controlled.
Referring to Fig. 3, being applied to control above-mentioned machining equipment 10 the embodiment of the invention provides a kind of control method
In induction asynchronous machine 300, the step of the method includes:
Step S110: control circuit 240 obtains the position for incuding the rotor of asynchronous machine 300 and revolving speed and position control refers to
It enables and generates voltage commands.
The position of rotor in step s 110 and revolving speed can be carried out by the rotary encoder 350 being arranged in shaft
It obtains, position control instruction can be generated by main controller 100.
Step S120: inverter 220 changes output to the three-phase alternating current for incuding asynchronous machine 300 according to voltage commands
Size.
Wherein, it is used to control the revolving speed of induction asynchronous machine 300 by the size of the three-phase alternating current.
Since induction asynchronous machine 300 powers to it by three-phase alternating current；Therefore, when the size to three-phase alternating current not
Meanwhile it is different with position in the revolving speed of induction 300 rotor of asynchronous machine, and then incude the rotation of the shaft of asynchronous machine 300
Speed will be different.
Optionally, referring to Fig. 4, step S110: the control circuit 240 obtains turning for the induction asynchronous machine 300
The position of son and revolving speed and position control instruction generate voltage commands, comprising:
Step S111: position, revolving speed and position control instruction based on the rotor are generated for controlling the sense
Answer the speed command of 300 spinner velocity of asynchronous machine.
It should be noted that the position of rotor can indicate is the angle of rotor at this time.Pass through the position of rotor, revolving speed
The rotation speed of available induction 300 shaft of asynchronous machine.And then it can be fast by incuding the rotation of 300 shaft of asynchronous machine
Degree compares formation speed order with position control instruction.And position control instruction can turn for induction asynchronous machine 300
Axis moves and the movable block 500 on machining equipment 10 is made to move to the instruction of specific position, and in other words, movable block 500 needs
Different distances of the either movable block 500 apart from final position of the distance to be moved is different, and position control instruction is then different.Position
Set that control instruction can characterize is to make how long the shaft for incuding asynchronous machine 300 then may be used with certain constant speed rotation
So that movable block 500 moves how many distance.
For example, the rotation speed of the shaft obtained in the position of the rotor sometime monitored, revolving speed is First Speed,
If the position control instruction at this time is the position control instruction generated when movable block 500 only has 5cm apart from final position, and this
When position control instruct corresponding shaft rotation speed be second speed, if First Speed will be generated with second speed difference
One first error signal, and the speed command finally exported is generated based on first error signal.
And what can be used during first error signal formation speed order is positioner, the position control
The type of device can be pi controller, and speed then can be generated after the pi controller in first error signal
It drags out a miserable existence order.
Step S112: magnetic linkage order is generated based on the speed command.
Speed command can be generated into magnetic linkage order with weak magnetic controller, weak magnetic controller can be according to the asynchronous electricity of induction
The parameter of machine 300 determines the size of magnetic linkage of the rotor under some specific rotation speeds.Meanwhile motor can be made to be more than rated speed
Operation, and then the machine-shaping of mold can be accelerated, save the time.
Step S113: torque command is generated based on the speed command and the revolving speed.
By in step S111 the rotational speed values of the corresponding rotor of speed command and the actual speed value of rotor carry out pair
Than generating the second error signal, the second error signal input speed controller be can be generated into torque command, and speed control
It is also possible to pi controller.
Step S114: the phase current values of the induction asynchronous machine 300 are obtained.
The phase current values thus when phase current value be inverter 220 output to incude asynchronous machine 300 three-phase current
Value.
Step S115: based on the torque command, the magnetic linkage order, the phase current values for incuding asynchronous machine 300
Generate voltage commands.
FOC can be passed through in the process for generating voltage commands based on torque command, magnetic linkage order and phase current values
(Field-OrientedControl, Field orientable control, also referred to as vector converter) is realized.
Optionally, step S113: described that torque command is generated based on the speed command and the revolving speed, comprising:
The speed that the speed command is characterized is compared into acquisition speed error signal with the revolving speed, based on described
Speed error signal generates the torque command.
Optionally, referring to Fig. 5, step S115: described to be based on the torque command, the magnetic linkage order, the induction
The phase current values of asynchronous machine 300 generate voltage commands, comprising:
Step S1151: the magnetic linkage angle of the induction asynchronous machine 300 is obtained.
Magnetic linkage angle can be obtained by incuding the flux linkage estimation algorithm of asynchronous machine 300.
Step S1152: phase current values and the magnetic linkage angle based on the induction asynchronous machine 300 obtain magnetic linkage electric current
And torque current.
Phase current values three-phase two-phase coordinate transform can be carried out based on magnetic linkage angle to obtain in two-dimensional quadrature coordinate system
Electric current.
The magnetic linkage electric current and the torque current are generated based on the electric current in two-dimensional quadrature coordinate system.
Step S1153: magnetic linkage voltage is generated based on the magnetic linkage order and the magnetic linkage electric current, is based on torque command and institute
It states torque current and generates torque voltage.
Step S1154: the voltage life is generated based on the magnetic linkage voltage, the torque voltage and the magnetic linkage angle
It enables.
Magnetic linkage voltage and torque voltage can be subjected to the coordinate transform of two-phase three-phase based on magnetic linkage angle and generate three-phase voltage
Signal.
The voltage commands are generated based on three-phase voltage signal.
Machining equipment provided in an embodiment of the present invention and its control method, machining equipment include: main controller；With
The frequency converter of main controller connection, frequency converter are used to receive the position control instruction of main controller transmission.Asynchronous machine is incuded, with frequency conversion
Device connection；Rotary encoder is connect with the shaft of induction asynchronous machine, and rotary encoder is used to measure turning for induction asynchronous machine
The position of son and revolving speed, and position and revolving speed are sent to frequency converter.Transmission mechanism, one end of transmission mechanism and the asynchronous electricity of induction
The shaft of machine connects；Movable block is connect with the other end of transmission mechanism.Wherein, frequency converter is also used to position based on rotor, turns
The position and revolving speed of speed and position control instruction control shaft.By making to incude driving of the asynchronous machine as machining equipment
Element；Incude asynchronous machine and drive the movable block of machining equipment to move by transmission mechanism, may be implemented to squeeze mold
It is molded.Simultaneously as permanent magnet is not present in induction asynchronous machine；There is the case where power-off suddenly incuding asynchronous machine
When, the end for incuding asynchronous machine can generate induced voltage；By permanent magnet synchronous motor as mechanical in compared to the prior art
The driving element of process equipment；If there is the case where power-off suddenly, it is hardly damaged equipment.Further, permanent magnet synchronous motor
Price it is more more expensive than induction asynchronous machine, corresponding maintenance price is also just more expensive.And the failure of permanent magnet synchronous motor
Rate is higher than induction asynchronous machine, and in turn, the embodiment of the present invention uses driving of the induction asynchronous machine as machining equipment
The scheme of element uses permanent magnet synchronous motor higher as the driving element practicability of machining equipment compared to the prior art.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are shown
Device, the architectural framework in the cards of method and computer program product, function of multiple embodiments according to the present invention
And operation.In this regard, each box in flowchart or block diagram can represent one of a module, section or code
Point, a part of the module, section or code includes one or more for implementing the specified logical function executable
Instruction.It should also be noted that function marked in the box can also be attached to be different from some implementations as replacement
The sequence marked in figure occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes may be used
To execute in the opposite order, this depends on the function involved.It is also noted that each of block diagram and or flow chart
The combination of box in box and block diagram and or flow chart can be based on the defined function of execution or the dedicated of movement
The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, laptop, server or network equipment etc.) execute the whole of each embodiment the method for the present invention
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.It should be noted that, in this document, relational terms such as first and second and the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of machining equipment characterized by comprising
Main controller；
Frequency converter, the position control instruction sent for receiving the main controller；
Incude asynchronous machine, is connect with frequency converter；
Rotary encoder is connect with the shaft of the induction asynchronous machine, and the rotary encoder is different for measuring the induction
Position and the revolving speed of the rotor of motor are walked, and the position and revolving speed are sent to the frequency converter；
One end of transmission mechanism, the transmission mechanism is connect with the shaft of induction asynchronous machine；
Movable block is connect with the other end of the transmission mechanism；
Wherein, the frequency converter is also used to instruct the position for controlling the shaft based on the position, revolving speed and the position control
It sets and revolving speed.
2. machining equipment according to claim 1, which is characterized in that the machining equipment further include: measurement
Device, the measuring device are connect with the main controller, and the measuring device is used to measure the location information of the movable block, and
The location information is sent to the main controller, the main controller is used to generate the position control based on the location information
Instruction.
3. machining equipment according to claim 1, which is characterized in that the frequency converter includes:
Inverter is connect with the induction asynchronous machine；
Control circuit is connect with the main controller, the inverter and the rotary encoder, for the sense according to acquisition
The position of the rotor of asynchronous machine and the position control instruction generation voltage commands of revolving speed and main controller transmission are answered, and
The voltage commands are sent to the inverter；
Wherein, the inverter is used to change according to the voltage commands three-phase alternating current of output to the induction asynchronous machine
Size.
4. machining equipment according to claim 3, which is characterized in that the inverter includes:
Rectified three-phase circuit is connect with power grid, for alternating current to be changed into direct current；
Filter circuit is connect with the rectified three-phase circuit, for the direct current to be filtered；
Three-phase inverting circuit is all connected with the filter circuit, the induction asynchronous machine and the control circuit, for that will filter
Wave treated the direct current the is converted to three-phase alternating current, and changed based on the size of voltage in the voltage commands defeated
Out to the size of the three-phase alternating current of the induction asynchronous machine, wherein the three-phase alternating current is for adjusting the sense
Answer the torque of the shaft of asynchronous machine.
5. a kind of control method, which is characterized in that it is applied to such as machining equipment of any of claims 1-4,
The described method includes:
Control circuit obtain it is described induction asynchronous machine rotor position and revolving speed and the position control instruction generate voltage
Order,
Inverter changes the size of output to the three-phase alternating current for incuding asynchronous machine according to the voltage commands；
Wherein, by the size of the three-phase alternating current for controlling the induction Rotational Speed of Asynchronous Motor.
6. according to the method described in claim 5, it is characterized in that, the control circuit obtains turning for the induction asynchronous machine
The position of son and revolving speed and position control instruction generate voltage commands, comprising:
Position, revolving speed and position control instruction based on the rotor are generated for controlling the induction asynchronous machine rotor
The speed command of speed；
Magnetic linkage order is generated based on the speed command；
Torque command is generated based on the speed command and the revolving speed；
Obtain the phase current values of the induction asynchronous machine；
Phase current values based on the torque command, the magnetic linkage order, the induction asynchronous machine generate voltage commands.
7. according to the method described in claim 6, it is characterized in that, described generated based on the speed command and the revolving speed is turned
Square order, comprising:
The speed that the speed command is characterized is compared into acquisition speed error signal with the revolving speed,
The torque command is generated based on the speed error signal.
8. according to the method described in claim 6, it is characterized in that, described be based on the torque command, the magnetic linkage order, institute
The phase current values for stating induction asynchronous machine generate voltage commands, comprising:
Obtain the magnetic linkage angle of the induction asynchronous machine；
Phase current values and the magnetic linkage angle based on the induction asynchronous machine obtain magnetic linkage electric current and torque current；
Magnetic linkage voltage is generated based on the magnetic linkage order and the magnetic linkage electric current, is generated based on torque command and the torque current
Torque voltage；
The voltage commands are generated based on the magnetic linkage voltage, the torque voltage and the magnetic linkage angle.
9. according to the method described in claim 8, it is characterized in that, it is described based on it is described induction asynchronous machine phase current values and
The magnetic linkage angle obtains magnetic linkage electric current and torque current, comprising:
The phase current values three-phase two-phase coordinate transform is carried out based on the magnetic linkage angle to obtain in two-dimensional quadrature coordinate system
Electric current,
The magnetic linkage electric current and the torque current are generated based on the electric current in the two-dimensional quadrature coordinate system.
10. according to the method described in claim 8, it is characterized in that, it is described based on the magnetic linkage voltage, the torque voltage and
The magnetic linkage angle generates the voltage commands, comprising:
The magnetic linkage voltage and the torque voltage are subjected to the coordinate transform of two-phase three-phase based on the magnetic linkage angle and generate three-phase
Voltage signal；
The voltage commands are generated based on the three-phase voltage signal.
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| CN201811632575.XA CN109450207A (en) | 2018-12-29 | 2018-12-29 | Machining equipment and its control method |
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| CN201811632575.XA CN109450207A (en) | 2018-12-29 | 2018-12-29 | Machining equipment and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936972A (en) * | 2021-02-08 | 2021-06-11 | 吕言 | Hydraulic control device and control method for hydraulic machine |
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