CN109981021A - The accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine - Google Patents
The accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine Download PDFInfo
- Publication number
- CN109981021A CN109981021A CN201910142149.6A CN201910142149A CN109981021A CN 109981021 A CN109981021 A CN 109981021A CN 201910142149 A CN201910142149 A CN 201910142149A CN 109981021 A CN109981021 A CN 109981021A
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- China
- Prior art keywords
- speed
- controlled object
- frequency converter
- asynchronous machine
- motor
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Classifications
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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
- H02P23/20—Controlling the acceleration or deceleration
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The invention discloses the initial position of record controlled object movement and end positions first, calculate the distance of the initial position and the end position, controlled object obtains the position of the controlled object in real time during acting, obtain the corresponding frequency of frequency converter motor speed, frequency converter gives motor corresponding frequencies and controls motor speed, and Frequency Converter Control threephase asynchronous machine drives transmission device and then controls controlled object.The present invention utilizes controlled object position real-time control threephase asynchronous machine speed, realizes the accurate positioning in Frequency Converter Control threephase asynchronous machine, positioning accuracy is up to grade.Brake positioning is not used during mechanism kinematic, positioning is whole controlled, and error is small, and positioning positions more accurate compared to conventional three-phase asynchronous machine.
Description
Technical field
The invention belongs to motor control technology fields, and in particular to a kind of Frequency Converter Control threephase asynchronous machine it is accurate from
Dynamic location algorithm.
Background technique
Accurate control generally uses servo motor at present, is positioned by pulse, motor, which often receives a pulse, to be revolved
Turn the corresponding angle of a pulse, servo motor itself has the function of issuing pulse, so one angle of the every rotation of servo motor
Degree can all issue the pulse shaping of pulse and the servo motor receiving of corresponding number closed-loop control.System hair umber of pulse and
Received umber of pulse it is known that so as to be accurately controlled the rotation of motor, to realize accurate positioning very much.Frequency Converter Control passes
Dynamic device positioning is generally switched using deceleration limit, is obtained by counter high speed compare instruction and is needed position of slowing down, high first
Speed, middling speed, last low speed positioning.The inertia of equipment and the difference of band-type brake effect can all influence the size of equipment lead, therefore
Positioning accuracy will receive influence.
Summary of the invention:
In order to overcome the defect of above-mentioned background technique, the present invention mentions the accurate automatic fixed of Frequency Converter Control threephase asynchronous machine
Position algorithm, band-type brake is not necessarily in motion process, overcomes the difference of band-type brake effect.
In order to solve the above-mentioned technical problem used technical solution of the invention are as follows:
A kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine: of record controlled object movement first
Beginning position and end position, calculates the distance of initial position and end position, and controlled object obtains in real time during acting
The position of controlled object, obtains the corresponding frequency of frequency converter motor speed, and frequency converter gives motor corresponding frequencies control motor and turns
Speed, Frequency Converter Control threephase asynchronous machine drive transmission device and then control controlled object.
Preferably, including:
Step 1, the total kilometres s of positioning, total kilometres are obtained to target position according to positioning initial positionWherein, TaddFor the acceleration time of setting, VmaxFor the maximum speed of acceleration；
Step 2, controlled object after controlled object movement, obtains displacement sensor inspection in initial position, setting starting speed
Survey controlled object positional distance initial position；
Step 3, judge that controlled object is in even accelerator or even moderating process, if being in even accelerator, obtain
Given speed in even accelerator obtains the given speed in even moderating process if being in even moderating process；
Step 4, when given speed is greater than the restriction speed of motor in ideal curve, the practical given speed of motor is to limit
Speed, when given speed is less than motor restriction speed in ideal curve, given speed is ideal curve given speed.
Preferably, step 3 judges that controlled object is in even accelerator or the method for even moderating process includes:
If S1< s/2, then controlled object is in even accelerator；
If S1>=s/2, then controlled object is in even moderating process；
For controlled object at initial position, setting starting speed, after controlled object movement, displacement sensor detects controlled substance
Body position is S apart from initial position1。
Preferably, the method that step 3 obtains the given speed in even accelerator includes:
Given speed in even accelerator
Wherein, maximum speed Vmax=a1*Tadd, a1For the acceleration in even accelerator.
Preferably, the method that step 3 obtains the given speed in even moderating process includes:
Given speed in even moderating processWherein, S2 be even moderating process in by
Control object distance target position distance.
The beneficial effects of the present invention are: the present invention utilizes controlled object position real-time control threephase asynchronous machine speed,
Realize the accurate positioning in Frequency Converter Control threephase asynchronous machine, positioning accuracy is up to grade.Do not make during mechanism kinematic
It is positioned with brake, positioning is whole controlled, and error is small, and positioning positions more accurate compared to conventional three-phase asynchronous machine.
Detailed description of the invention
Fig. 1 is Velocity Time of embodiment of the present invention coordinate curve
Fig. 2 is that Velocity Time of the embodiment of the present invention limits maximum speed coordinate curve；
Fig. 3 is the structural schematic diagram of the single mechanism of track switch of the embodiment of the present invention.
In figure: 1- electric cylinder firm banking, the fixed bracket of 2- electric cylinder, 3- electric cylinder motor, 4- electric cylinder, 5- electric cylinder
Lead screw, 6- controlled board.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
The working principle of the invention is: driving transmission device to control controlled substance by Frequency Converter Control threephase asynchronous machine
Body, control system use incremental encoder closed-loop control.The initial position of record controlled object movement and end position first,
The alternate position spike of two positions is calculated simultaneously.Controlled object passes through the position of encoder Real-time Feedback controlled object during acting
It sets while giving calculated speed.Motor, the corresponding frequency of the available frequency converter motor speed of the parameter of speed reducer etc. become
Frequency device gives motor corresponding frequencies and controls motor speed.The circle number that motor rotation can be calculated by encoder is controlled to calculate
The mobile distance of object and current location.As shown in Figure 1, when stroke is shorter, ideally by controlled object movement velocity
Regard the process of an even acceleration and an even deceleration as.Specific calculating process is as follows:
Step 1: setting an acceleration time first, since the initial position of positioning and target bit rate are 0, and position is
Know, according to positioning initial position to target position it can be concluded that the total kilometres s of positioning, acceleration time and deceleration in ideal curve
Time is equal, i.e. total time is 2 times of acceleration time, and the total kilometres s as shown in Fig. 1 Velocity Time coordinate curve is for rate curve
Area, i.e. total kilometres s, maximum speed VmaxAnd the relationship of acceleration time:
Wherein s is the distance for positioning initial position to target position, TaddFor acceleration time for setting, (for unit as the second, value can
To be set according to actual conditions), VmaxFor the maximum speed of acceleration.
Step 2: controlled object is at initial position, speed 0, gives a starting speed, controlled object movement at this time
Afterwards, displacement sensor detection controlled object positional distance initial position is S1(current location).
Work as S1When < s/2, it is considered as even accelerator.By the available maximum speed V of step 1max, have
Vmax=a1*Tadd(formula 2)
Wherein a1For the acceleration in even accelerator.
If ideal given speed is V at this time1, have:
V1=a1*T1(formula 3)
Wherein T1For corresponding time when given speed V1 in ideal curve.
It is available by formula 2 and formula 3:
And the relationship of current location and Velocity Time are as follows:
S1=V1*T1/ 2 (formulas 5)
From formula 1, formula 4 and formula 5:
The given speed that can be found out in accelerator by formula 6 isIt can be seen that being given in boost phase
Constant speed degree is related with current location.
Work as S1When >=s/2, it is considered as even moderating process, if controlled object distance objective positional distance is S at this time2If existing at this time
Ideal occlusion determines the correspondence time in rate curve for T2, it is known that:
If acceleration is a in moderating process2, then:
V2=Vmax+a2*(T2-Tadd) (formula 8)
V in formula2For in ideal curve when controlled object is moved to apart from initial position S1When speed.
Have in the decelerating phase:
-Vmax==a2*Tadd(formula 9)
Had according to formula 8, formula 9
By formula 1, formula 7, formula 10 is known:
Ideal velocity at this timeGiven speed when available deceleration at this time, can be with
Find out that moderating process speed is related with current location.
Step 3: known to step 2 in ideal curve, given speed is related with current location.In practice, give
Constant speed, which is spent, will cause greatly motor more than maximum power, lead to motor damage, it is therefore desirable to limit motor speed.Such as Fig. 2, according to
Current location, when given speed is greater than the restriction speed of motor in ideal curve, the practical given speed of motor is limited constant speed degree,
When given speed is less than motor restriction speed in ideal curve, given speed is ideal curve given speed.
By step 1, step 2, step 3 it can be concluded that controlled object different location motor given speed.However in reality
The border given speed of motor and actual motion speed in have different, but according to the feedback position of motor encoder, electricity
The position that the given speed of machine still presses positioning is given.
The above embodiment of the present invention can be applied to single transmission mechanism as shown in Figure 3, and single transmission mechanism includes electricity
The fixed bracket 2 of dynamic cylinder firm banking 1, electric cylinder, electric cylinder motor 3, electric cylinder 4 and electric cylinder lead screw 5, by driving device, electricity
Dynamic push rod, controlled board 6 and bolt.Driving device (frequency converter) driving motor, by electric pushrod act on controlled board 6 make it is controlled
Plate 6 moves horizontally, when pin hole is aligned with snibbing position, under bolt is inserted.
Motor control controlled board 6 writes down the position (mesh under controlled board 6 needs the initial position that stops and bolt to insert when moving
Cursor position).Sensor measurement electric putter position Real-time Feedback, setting acceleration time can calculate electric pushrod by algorithm and stretch
The maximum speed of contracting, while the given maximum speed of motor is limited to protect motor.The relevant parameter of electric cylinder 4 and motor can push away
The frequency that frequency converter should provide is calculated, transducer drive motor drives controlled board 6 to reach target position.
The beneficial effect is that: electric pushrod is acted on by driving device driving motor, controlled board 6 is pushed, by this hair
The distance of stretch out and draw back of the distance of stretch out and draw back control controlled board 6 of bright algorithm positioning electric pushrod, makes controlled board 6 reach designated position, error
Within 1mm.
Compared with prior art, beneficial effects of the present invention: threephase asynchronous machine uses inventive algorithm, mechanism kinematic
Brake positioning is not used in the process, positioning is whole controlled, and error is small, and positioning positions more smart compared to conventional three-phase asynchronous machine
Really.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (5)
1. a kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine, it is characterised in that: record controlled substance first
The initial position of body movement and end position, calculate the distance of the initial position and the end position, and controlled object is dynamic
The position of the controlled object is obtained during work in real time, obtains the corresponding frequency of frequency converter motor speed, frequency converter is given
Motor corresponding frequencies control motor speed, and Frequency Converter Control threephase asynchronous machine drives transmission device and then controls controlled object.
2. a kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine according to claim 1, feature
It is, comprising:
Step 1, the total kilometres s of positioning, total kilometres are obtained to target position according to positioning initial positionWherein, Tadd is the acceleration time of setting, and Vmax is the maximum speed accelerated；
Step 2, controlled object is in initial position, setting starting speed, after controlled object movement, obtain displacement sensor detection by
Object space is controlled apart from initial position；
Step 3, judge that the controlled object is in even accelerator or even moderating process, if being in even accelerator, obtain
Given speed in even accelerator obtains the given speed in even moderating process if being in even moderating process；
Step 4, when given speed is greater than the restriction speed of motor in ideal curve, the practical given speed of motor is limited constant speed
Degree, when given speed is less than motor restriction speed in ideal curve, given speed is ideal curve given speed.
3. a kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine according to claim 2, feature
It is, the step 3 judges that the controlled object is in even accelerator or the method for even moderating process includes:
If S1 < s/2, the controlled object is in even accelerator；
If S1 >=s/2, the controlled object is in even moderating process；
For controlled object at initial position, setting starting speed, after controlled object movement, displacement sensor detects controlled substance position
Setting apart from initial position is S1.
4. a kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine according to claim 3, feature
It is, the method that the step 3 obtains the given speed in even accelerator includes:
Given speed in even accelerator
Wherein, maximum speed Vmax=a1*Tadd, a1 is the acceleration in even accelerator.
5. a kind of accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine according to claim 4, feature
It is, the method that the step 3 obtains the given speed in even moderating process includes:
Given speed in even moderating processWherein, S2 is controlled substance in even moderating process
Body distance objective positional distance.
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| CN201910142149.6A CN109981021A (en) | 2019-02-26 | 2019-02-26 | The accurate automatic positioning algorithm of Frequency Converter Control threephase asynchronous machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456728A (en) * | 2019-08-26 | 2019-11-15 | 安德里茨（中国）有限公司 | Control method and related Control System based on frequency converter |
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| CN107046382A (en) * | 2017-03-24 | 2017-08-15 | 吉林大学 | A kind of iteration speed control method based on trigonometric function |
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2019
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| CN104865894A (en) * | 2015-03-20 | 2015-08-26 | 西安交通大学 | Statistical model-based moving beam type gantry type machine tool dual-drive feed error compensation method and model |
| RU2608185C2 (en) * | 2015-04-13 | 2017-01-17 | Государственное бюджетное образовательное учреждение высшего профессионального образования "Альметьевский государственный нефтяной институт" | Device for adaptive control of smooth launch of high-voltage electric drives |
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Application publication date: 20190705 |