CN110242531B - Energy-saving control method for constant-power plunger variable pump set driving system - Google Patents

Energy-saving control method for constant-power plunger variable pump set driving system Download PDF

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CN110242531B
CN110242531B CN201910514891.5A CN201910514891A CN110242531B CN 110242531 B CN110242531 B CN 110242531B CN 201910514891 A CN201910514891 A CN 201910514891A CN 110242531 B CN110242531 B CN 110242531B
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黄海鸿
方波
姚鑫
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Hefei University of Technology
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B13/00—Pumps specially modified to deliver fixed or variable measured quantities
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B23/00—Pumping installations or systems
    • F04B23/04—Combinations of two or more pumps
    • F04B23/06—Combinations of two or more pumps the pumps being all of reciprocating positive-displacement type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B51/00—Testing machines, pumps, or pumping installations

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  • Control Of Positive-Displacement Pumps (AREA)

Abstract

The invention discloses an energy-saving control method of a constant-power plunger variable pump set driving system, which comprises a constant-power plunger variable pump driving unit, a load hydraulic cylinder and a frequency converter, wherein the constant-power plunger variable pump set driving unit consists of a three-phase asynchronous motor and a constant-power plunger variable pump, and the frequency converter is used for adjusting the rotating speed of the three-phase asynchronous motor. According to the invention, different numbers of constant-power plunger variable pump driving units are respectively called to be in constant-power control and no-load operation states according to the flow and pressure requirements of different stages of the load. And establishing a rotation speed optimization model, calculating to obtain the optimal energy-saving target rotation speed under constant power control and no-load operation states, and controlling a frequency converter in each constant-power plunger variable pump driving unit to adjust the rotation speed of the asynchronous motor to the optimal energy-saving target rotation speed by using a control circuit, so that the no-load loss power of a constant-power plunger variable pump group driving system is reduced, and the input power and the output power of the constant-power plunger variable pump group driving system are matched as much as possible.

Description

一种恒功率柱塞变量泵组驱动系统节能控制方法An energy-saving control method for a drive system of a constant-power plunger variable pump set

技术领域technical field

本发明涉及一种异步电机-恒功率柱塞变量泵驱动单元节能调速策略，特别涉及一种恒功率柱塞变量泵组驱动系统的节能控制方法。The invention relates to an asynchronous motor-constant power plunger variable pump drive unit energy saving and speed regulation strategy, in particular to an energy saving control method of a constant power plunger variable pump group drive system.

背景技术Background technique

异步电机-恒功率柱塞变量泵驱动单元以其结构简单、便于调节、性价比高等优点在大流量、大功率及有流量调节需求的情况下得到广泛应用，例如大型的液压机械、船舶等场合。Asynchronous motor-constant power plunger variable pump drive unit is widely used in the case of large flow, high power and flow adjustment requirements due to its simple structure, easy adjustment and high cost performance, such as large hydraulic machinery, ships and other occasions.

驱动单元实际工作过程中，根据液压传动系统的特性，只有在负载压力大的工况下，电机与泵才能高效运行，在其他负载需求不大甚至为零的工况下，电机的能效较低，由于电机的输出功率与负载需求功率的不匹配导致了大量的能量损失。因此，通过调速控制策略降低驱动单元的损耗功率对提高其能量利用效率具有重要意义与作用，同时对中大形液压成形装备的改造有参考价值。In the actual working process of the drive unit, according to the characteristics of the hydraulic transmission system, the motor and pump can operate efficiently only under the condition of high load pressure, and the energy efficiency of the motor is low under other conditions with little or even zero load demand. , a large amount of energy is lost due to the mismatch between the output power of the motor and the power demanded by the load. Therefore, reducing the power loss of the drive unit through the speed regulation control strategy is of great significance and role in improving its energy utilization efficiency, and has reference value for the transformation of medium and large hydroforming equipment.

专利号为CN108278200A提出了一种异步电机-恒功率柱塞泵损耗功率测试系统功率测试系统及方法，该测试方法利用测试系统开展三种转速实验，即可得到可靠准确的异步电机-恒功率柱塞变量泵的转速n与总损耗功率PW的特性曲线，发现异步电机-恒功率柱塞变量泵总损耗功率与转速n成二次函数正相关关系。Patent No. CN108278200A proposes a power test system and method for an asynchronous motor-constant power plunger pump loss power test system. The test method uses the test system to carry out three speed experiments, and a reliable and accurate asynchronous motor-constant power column can be obtained. The characteristic curve of the speed n of the piston variable pump and the total loss power P W shows that the total loss power of the asynchronous motor-constant power piston variable pump has a quadratic function positive correlation with the speed n.

发明内容SUMMARY OF THE INVENTION

本发明目的在于提供一种恒功率柱塞变量泵组驱动系统的节能控制方法，基于电机和泵的损耗机理，通过对恒功率柱塞变量泵驱动单元输入转速的调节，降低输出功率与负载需求功率不匹配导致的功率损耗，达到节能减排的效果。The purpose of the present invention is to provide an energy-saving control method for the drive system of the constant power piston variable pump group, based on the loss mechanism of the motor and the pump, by adjusting the input speed of the constant power piston variable pump drive unit, to reduce the output power and load requirements The power loss caused by the power mismatch can achieve the effect of energy saving and emission reduction.

为实现以上目的，本发明采用的技术方案是：For achieving the above purpose, the technical scheme adopted in the present invention is:

一种恒功率柱塞变量泵组驱动系统的节能控制方法，所述恒功率柱塞变量泵组驱动系统包括：由三相异步电机和恒功率变量泵构成的恒功率柱塞变量泵驱动单元、由所述恒功率柱塞变量泵驱动单元进行驱动的负载液压缸以及用于调节三相异步电机转速的变频器，所述恒功率柱塞变量泵驱动单元的个数为两个或两个以上；其特征是：恒功率柱塞变量泵组驱动系统的负载需求流量由各恒功率柱塞变量泵驱动单元共同提供；所述的恒功率柱塞变量泵组驱动系统节能控制方法是：根据负载不同阶段的流量和压力需求，调用不同数量的恒功率柱塞变量泵驱动单元分别处于恒功率控制和空载运行状态，建立转速优化模型，计算获得恒功率控制和空载运行状态下的最优节能目标转速，利用每个恒功率柱塞变量泵驱动单元中的变频器调节恒功率柱塞变量泵组驱动系统的三相异步电机转速到最优节能目标转速。An energy-saving control method for a constant power plunger variable pump drive system, the constant power plunger variable pump drive system comprises: a constant power plunger variable pump drive unit composed of a three-phase asynchronous motor and a constant power variable pump, A load hydraulic cylinder driven by the constant power plunger variable pump drive unit and a frequency converter for adjusting the rotational speed of a three-phase asynchronous motor, the number of the constant power plunger variable pump drive unit is two or more It is characterized in that: the load demand flow of the constant power plunger variable pump group drive system is jointly provided by each constant power plunger variable pump drive unit; the energy saving control method of the constant power plunger variable pump group drive system is: according to the load Flow and pressure requirements at different stages, call different numbers of constant power piston variable pump drive units to be in constant power control and no-load operation respectively, establish a speed optimization model, and calculate and obtain the optimum under constant power control and no-load operation. Energy-saving target speed, use the inverter in each constant-power piston variable pump drive unit to adjust the three-phase asynchronous motor speed of the constant-power piston variable pump drive system to the optimal energy-saving target speed.

所述的一种恒功率柱塞变量泵组驱动系统的节能控制方法，其特征是按如下步骤进行：The described energy-saving control method for a constant-power plunger variable pump group drive system is characterized by the following steps:

步骤1、针对第i个恒功率柱塞变量泵驱动单元，按照负载不同阶段的工况特性给定该驱动单元的需求输出流量

Figure GDA0002530935820000021
输出功率Pi output以及负载压力
Figure GDA0002530935820000022
根据柱塞泵工作原理，驱动单元输出功率Pi output和输出流量qi关系如式(1)所示：Step 1. For the i-th constant power piston variable pump drive unit, the required output flow of the drive unit is given according to the working condition characteristics of the different stages of the load
Figure GDA0002530935820000021
Output power P i output and load pressure
Figure GDA0002530935820000022
According to the working principle of the plunger pump, the relationship between the output power P i output of the drive unit and the output flow q i is shown in formula (1):

Figure GDA0002530935820000031
Figure GDA0002530935820000031

式(1)中，qi为驱动单元实际输出流量；qV为柱塞泵总容积损失流量；qT为柱塞泵理论输出流量；qV1、qV2、qV3、qV4分别为柱塞泵压缩容积损失流量、膨胀容积损失流量、配流副泄露损失流量、滑靴副泄露损失流量；In formula (1), q i is the actual output flow of the drive unit; q V is the total volume loss flow of the plunger pump; q T is the theoretical output flow of the plunger pump; q V1 , q V2 , q V3 , and q V4 are the column Plug pump compression volume loss flow, expansion volume loss flow, distribution pair leakage loss flow, slipper pair leakage loss flow;

其中，柱塞泵理论输出流量

Figure GDA0002530935820000032
令
Figure GDA0002530935820000033
则
Figure GDA0002530935820000034
压缩容积损失流量
Figure GDA0002530935820000035
令
Figure GDA0002530935820000036
则qV1＝Cv1·n；膨胀容积损失流量
Figure GDA0002530935820000037
令
Figure GDA0002530935820000038
Figure GDA0002530935820000039
则qV2＝Cv21psn-Cv22n；配流副泄露损失流量
Figure GDA00025309358200000310
令
Figure GDA00025309358200000311
则qV3＝Cv3·ps；滑靴副泄露损失流量
Figure GDA00025309358200000312
令
Figure GDA00025309358200000313
则qV4＝Cv4·ps；Among them, the theoretical output flow of the plunger pump
Figure GDA0002530935820000032
make
Figure GDA0002530935820000033
but
Figure GDA0002530935820000034
Compression volume loss flow
Figure GDA0002530935820000035
make
Figure GDA0002530935820000036
Then q V1 =C v1 ·n; expansion volume loss flow
Figure GDA0002530935820000037
make
Figure GDA0002530935820000038
Figure GDA0002530935820000039
Then q V2 =C v21 p s nC v22 n; the leakage loss flow of the distribution pair
Figure GDA00025309358200000310
make
Figure GDA00025309358200000311
Then q V3 =C v3 · ps ; slipper pair leakage loss flow
Figure GDA00025309358200000312
make
Figure GDA00025309358200000313
Then q V4 =C v4 · ps ;

由式(1)计算得出该驱动单元的实际输出流量qi(n)与转速n的关系如式(2)所示:The relationship between the actual output flow q i (n) of the drive unit and the rotational speed n is calculated from the formula (1) as shown in the formula (2):

Figure GDA00025309358200000314
Figure GDA00025309358200000314

式(2)中，Cq1、Cq2为实际输出流量相关综合系数；CT1、Cv1、Cv21、Cv22、Cv3、Cv4为柱塞泵流量损失相关参数；In formula (2), C q1 and C q2 are the comprehensive coefficients related to the actual output flow; C T1 , C v1 , C v21 , C v22 , C v3 , and C v4 are the parameters related to the flow loss of the plunger pump;

该恒功率柱塞变量泵驱动单元i总损失功率Pi W与转速n的关系如式(3)所示：The relationship between the total power loss P i W of the constant power piston variable pump drive unit i and the rotational speed n is shown in formula (3):

Figure GDA0002530935820000041
Figure GDA0002530935820000041

式(3)中，

Figure GDA0002530935820000042
为柱塞变量泵的损耗功率；
Figure GDA0002530935820000043
为三相异步电机的损耗功率；Cw1、Cw2、Cw3分别为与恒功率柱塞变量泵驱动单元结构和负载压力ps i有关的损耗功率综合系数；In formula (3),
Figure GDA0002530935820000042
is the power loss of the plunger variable pump;
Figure GDA0002530935820000043
is the power loss of the three-phase asynchronous motor; C w1 , C w2 , and C w3 are the comprehensive coefficients of power loss related to the drive unit structure of the constant-power piston variable pump and the load pressure p si respectively ;

步骤1.1、恒功率柱塞变量泵驱动单元i输入功率Pi input(n)等于该驱动单元总损失功率Pi W与输出功率Pi output之和，联立式(1)、式(2)及式(3)建立恒功率柱塞变量泵驱动单元能耗目标最优转速优化模型如式(4)：Step 1.1. The input power P i input (n) of the constant power piston variable pump drive unit i is equal to the sum of the total loss power P i W and the output power P i output of the drive unit, and the equations (1) and (2) are combined. And formula (3) to establish the constant power piston variable pump drive unit energy consumption target optimal speed optimization model as formula (4):

Figure GDA0002530935820000044
Figure GDA0002530935820000044

式(4)中，qi(n)为转速为n时该恒功率柱塞变量泵驱动单元实际输出流量；kq为引入的流量系数，其取值大于1；kn为引入的柱塞泵转速系数，其取值大于1；ni-min为该恒功率柱塞变量泵驱动单元最低允许工作转速，其值与柱塞泵型号有关；Pi input(n)为转速为n时该恒功率柱塞变量泵驱动单元输入功率；In formula (4), q i (n) is the actual output flow of the constant-power plunger variable pump drive unit when the rotational speed is n; k q is the introduced flow coefficient, and its value is greater than 1; k n is the introduced plunger Pump speed coefficient, its value is greater than 1; n i-min is the minimum allowable working speed of the constant power piston variable pump drive unit, and its value is related to the model of the piston pump; P i input (n) is the speed when the speed is n. Input power of the constant power piston variable pump drive unit;

步骤1.2、依照给定的恒功率柱塞变量泵驱动单元i的工况需求输出流量

Figure GDA0002530935820000045
以及负载压力ps i可由恒功率柱塞变量泵驱动单元能耗目标最优转速优化模型式(4)求解出该恒功率柱塞变量泵驱动单元i此工况需求下的最优节能目标转速
Figure GDA0002530935820000046
Step 1.2. Output flow according to the given working conditions of the constant power piston variable pump drive unit i
Figure GDA0002530935820000045
And the load pressure p s i can be calculated by the constant power piston variable pump drive unit energy consumption target optimal speed optimization model formula (4) to solve the constant power piston variable pump drive unit i under this working condition. The optimal energy-saving target speed
Figure GDA0002530935820000046

所述的一种恒功率柱塞变量泵组驱动系统的节能控制方法，其特征是按如下步骤进行：The described energy-saving control method for a constant-power plunger variable pump group drive system is characterized by the following steps:

步骤2.1、针对由(a+b)个额定功率相同的异步电机-斜盘式恒功率轴向柱塞变量泵组成的恒功率柱塞变量泵驱动单元构成的恒功率柱塞变量泵组驱动系统，根据负载不同阶段的工况特性给定该恒功率柱塞变量泵组驱动系统的需求输出流量qneed、输出功率Poutput以及负载压力ps，调用a个恒功率柱塞变量泵驱动单元处于恒功率控制运行状态，b个恒功率柱塞变量泵驱动单元处于空载状态运行，分配方式如式(5)所示，即：Step 2.1, for the constant power piston variable pump group drive system composed of (a+b) asynchronous motor-swash plate constant power axial piston variable pump drive units with the same rated power , according to the working condition characteristics at different stages of the load, the required output flow q need , output power P output and load pressure ps of the constant power plunger variable pump drive system are given, and a constant power plunger variable pump drive unit is called to be in In the constant power control operation state, the b constant power piston variable pump drive units are running in the no-load state, and the distribution method is shown in formula (5), namely:

Figure GDA0002530935820000051
Figure GDA0002530935820000051

式(5)中，q(n1)为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速为n1时的总实际输出流量；qi(n1)为处于恒功率控制的第i个转速为n1时的实际输出流量；kq为引入的流量系数，其取值大于1；

Figure GDA0002530935820000052
为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速为n1时的总实际输入功率；Pi W(n1)为处于恒功率控制的第i个恒功率柱塞变量泵驱动单元转速为n1时的总损耗功率；Pi output(n1)为处于恒功率控制的第i个恒功率柱塞变量泵驱动单元转速为n1时的实际输出功率；In formula (5), q(n 1 ) is the total actual output flow of a constant power piston variable pump drive unit in the constant power control operating state when the rotational speed is n 1 ; q i (n 1 ) is the constant power The actual output flow when the i-th speed under control is n 1 ; k q is the introduced flow coefficient, and its value is greater than 1;
Figure GDA0002530935820000052
is the total actual input power of a constant power piston variable pump drive unit in constant power control operating state when the rotational speed is n 1 ; P i W (n 1 ) is the i-th constant power piston variable in constant power control The total power loss of the pump drive unit when the rotational speed is n 1 ; P i output (n 1 ) is the actual output power of the i-th constant power piston variable pump drive unit under constant power control when the rotational speed is n 1 ;

步骤2.2、恒功率柱塞变量泵组驱动系统输入功率等于该恒功率柱塞变量泵组驱动系统总损失功率PW与输出功率Poutput之和；联立式(4)、式(5)设置恒功率柱塞变量泵组驱动系统能耗目标最优转速优化模型如式(6)：Step 2.2, the input power of the constant power plunger variable pump drive system is equal to the sum of the total loss power P W and the output power P output of the constant power plunger variable pump drive system; The optimal speed optimization model of the energy consumption target of the constant power piston variable pump drive system is as formula (6):

Figure GDA0002530935820000061
Figure GDA0002530935820000061

式(6)中，n1为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速；n2为b个处于空载运行状态的恒功率柱塞变量泵驱动单元转速；Cqa1、Cqa2为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元的实际输出流量相关综合系数；Cwa1、Cwa2、Cwa3分别为与恒功率柱塞变量泵组驱动系统结构和负载压力ps有关的损耗功率综合系数；In formula (6), n 1 is the rotational speed of a constant power piston variable pump drive unit in constant power control operation state; n 2 is the speed of b constant power piston variable pump drive units in no-load operation state; C qa1 and C qa2 are the comprehensive coefficients related to the actual output flow of a constant power piston variable pump drive unit in constant power control operation state; C wa1 , C wa2 and C wa3 are respectively related to the constant power piston variable pump drive system Comprehensive coefficient of power loss related to structure and load pressure ps ;

其中，

Figure GDA0002530935820000062
in,
Figure GDA0002530935820000062

步骤2.3、依照给定的恒功率柱塞变量泵组驱动系统工况需求输出流量qneed、以及负载压力ps可由恒功率柱塞变量泵组驱动系统能耗目标最优转速优化模型式(6)求解出该恒功率柱塞变量泵组驱动系统此工况需求下a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元的最优节能目标转速

Figure GDA0002530935820000063
和b个处于空载运行状态的恒功率柱塞变量泵驱动单元的最优节能目标转速
Figure GDA0002530935820000064
Step 2.3, according to the given constant power plunger variable pump group drive system, the output flow q need and the load pressure p s can be driven by the constant power plunger variable pump group to drive the system energy consumption target optimal speed optimization model formula (6 ) to solve the optimal energy-saving target speed of a constant power piston variable pump drive unit in the constant power control operation state under this working condition of the constant power piston variable pump drive system
Figure GDA0002530935820000063
and the optimal energy-saving target speed of b constant-power piston variable pump drive units in no-load operation
Figure GDA0002530935820000064

与已有技术相比，本发明有益效果体现在：Compared with the prior art, the beneficial effects of the present invention are reflected in:

1、本发明通过将变频调速原理应用在恒功率柱塞变量泵组驱动系统中，依据负载工况特性调整恒功率柱塞变量泵驱动单元及回路的参数，减少了异步电机-恒功率泵以恒定转速运行时产生的无用功输出，降低了液压驱动单元空载损耗，使输出功率与负载需求功率尽量匹配，对于液压驱动单元能量效率优化有重要的实际应用价值。1. The present invention reduces the asynchronous motor-constant power pump by applying the principle of variable frequency speed regulation to the drive system of the constant power plunger variable pump group, and adjusting the parameters of the constant power plunger variable pump drive unit and the circuit according to the characteristics of the load conditions. The useless power output generated when running at a constant speed reduces the no-load loss of the hydraulic drive unit, and makes the output power match the load demand power as much as possible, which has important practical application value for the optimization of the energy efficiency of the hydraulic drive unit.

2、本发明通过变频器调节异步电机转速降低了中大型液压设备的改造成本，同时继电器切换控制电路可有效避免电机频繁启停导致其与柱塞泵的使用寿命的降低，减少了大功率电机的启动会对电网产生冲击。2. The invention reduces the transformation cost of medium and large hydraulic equipment by adjusting the rotational speed of the asynchronous motor through the frequency converter, and at the same time, the relay switching control circuit can effectively avoid the frequent start and stop of the motor and reduce the service life of the plunger pump and the high-power motor. The start-up will have an impact on the grid.

附图说明Description of drawings

构成本发明的一部分附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings constituting a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

图1为本发明恒功率柱塞变量泵组驱动系统的示意图；Fig. 1 is the schematic diagram of the constant power plunger variable displacement pump group drive system of the present invention;

图2为恒功率柱塞变量泵组驱动系统变频调速控制电路原理图；图中标号：1三相异步电机，2恒功率变量泵，3恒功率柱塞变量泵驱动单元，4液压缸，5变频器。Figure 2 is a schematic diagram of the frequency conversion speed regulation control circuit of the constant power plunger variable pump drive system; the symbols in the figure: 1 three-phase asynchronous motor, 2 constant power variable pump, 3 constant power plunger variable pump drive unit, 4 hydraulic cylinder, 5 inverters.

具体实施方式Detailed ways

下面结合附图，对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings.

中大型液压成形装备由于其装机功率较大，如图1所示，恒功率柱塞变量泵组驱动系统包括：由三相异步电机1和恒功率变量泵2构成的恒功率柱塞变量泵驱动单元3、由所述恒功率柱塞变量泵驱动单元3进行驱动的负载液压缸4以及用于调节三相异步电机1转速的变频器5，恒功率柱塞变量泵驱动单元3的个数为两个及两个以上，通常采用多台三相异步电机-斜盘式恒功率轴向柱塞变量泵协同工作组成驱动单元。根据不同的工况需求，调用不同数量和功率的柱塞泵来共同完成输出，剩余柱塞泵则处于空载运行状态。因此，对于恒功率柱塞变量泵组驱动系统同一时刻，各电机-泵存在两种可能工作状态，即恒功率控制输出或空载运行，从而存在两种不同的调速需求。Due to the large installed power of medium and large hydroforming equipment, as shown in Figure 1, the drive system of the constant power piston variable pump group includes: a constant power piston variable pump drive composed of a three-phase asynchronous motor 1 and a constant power variable pump 2 Unit 3, the load hydraulic cylinder 4 driven by the constant power piston variable pump drive unit 3 and the frequency converter 5 for adjusting the rotational speed of the three-phase asynchronous motor 1, the number of the constant power piston variable pump drive unit 3 is Two or more, usually multiple three-phase asynchronous motors-swash plate type constant power axial piston variable pumps work together to form a drive unit. According to the requirements of different working conditions, different numbers and power of plunger pumps are called to complete the output together, and the remaining plunger pumps are in a no-load operation state. Therefore, for the constant power piston variable pump drive system at the same time, each motor-pump has two possible working states, that is, constant power control output or no-load operation, so there are two different speed regulation requirements.

本实施例中的一种恒功率柱塞变量泵组驱动系统的节能控制方法，按如下步骤进行：The energy-saving control method of a constant-power plunger variable pump group drive system in this embodiment is carried out according to the following steps:

步骤1、针对第i个恒功率柱塞变量泵驱动单元，按照负载不同阶段的工况特性给定该驱动单元的需求输出流量

Figure GDA0002530935820000081
输出功率Pi output以及负载压力
Figure GDA0002530935820000082
根据柱塞泵工作原理，驱动单元输出功率Pi output和输出流量qi关系如式(1)所示：Step 1. For the i-th constant power piston variable pump drive unit, the required output flow of the drive unit is given according to the working condition characteristics of the different stages of the load
Figure GDA0002530935820000081
Output power P i output and load pressure
Figure GDA0002530935820000082
According to the working principle of the plunger pump, the relationship between the output power P i output of the drive unit and the output flow q i is shown in formula (1):

Figure GDA0002530935820000083
Figure GDA0002530935820000083

式(1)中，qi为驱动单元实际输出流量；qV为柱塞泵总容积损失流量；qT为柱塞泵理论输出流量；qV1、qV2、qV3、qV4分别为柱塞泵压缩容积损失流量、膨胀容积损失流量、配流副泄露损失流量、滑靴副泄露损失流量；In formula (1), q i is the actual output flow of the drive unit; q V is the total volume loss flow of the plunger pump; q T is the theoretical output flow of the plunger pump; q V1 , q V2 , q V3 , and q V4 are the column Plug pump compression volume loss flow, expansion volume loss flow, distribution pair leakage loss flow, slipper pair leakage loss flow;

其中，柱塞泵理论输出流量

Figure GDA0002530935820000084
令
Figure GDA0002530935820000085
则
Figure GDA0002530935820000086
压缩容积损失流量
Figure GDA0002530935820000087
令
Figure GDA0002530935820000088
则qV1＝Cv1·n；膨胀容积损失流量
Figure GDA0002530935820000089
令
Figure GDA00025309358200000810
Figure GDA00025309358200000811
则qV2＝Cv21psn-Cv22n；配流副泄露损失流量
Figure GDA00025309358200000812
令
Figure GDA00025309358200000813
则qV3＝Cv3·ps；滑靴副泄露损失流量
Figure GDA0002530935820000091
令
Figure GDA0002530935820000092
则qV4＝Cv4·ps；Among them, the theoretical output flow of the plunger pump
Figure GDA0002530935820000084
make
Figure GDA0002530935820000085
but
Figure GDA0002530935820000086
Compression volume loss flow
Figure GDA0002530935820000087
make
Figure GDA0002530935820000088
Then q V1 =C v1 ·n; expansion volume loss flow
Figure GDA0002530935820000089
make
Figure GDA00025309358200000810
Figure GDA00025309358200000811
Then q V2 =C v21 p s nC v22 n; the leakage loss flow of the distribution pair
Figure GDA00025309358200000812
make
Figure GDA00025309358200000813
Then q V3 =C v3 · ps ; slipper pair leakage loss flow
Figure GDA0002530935820000091
make
Figure GDA0002530935820000092
Then q V4 =C v4 · ps ;

由式(1)计算得出该驱动单元的实际输出流量qi(n)与转速n的关系如式(2)所示:The relationship between the actual output flow q i (n) of the drive unit and the rotational speed n is calculated from the formula (1) as shown in the formula (2):

Figure GDA0002530935820000093
Figure GDA0002530935820000093

式(2)中，Cq1、Cq2为实际输出流量相关综合系数；CT1、Cv1、Cv21、Cv22、Cv3、Cv4为柱塞泵流量损失相关参数；In formula (2), C q1 and C q2 are the comprehensive coefficients related to the actual output flow; C T1 , C v1 , C v21 , C v22 , C v3 , and C v4 are the parameters related to the flow loss of the plunger pump;

该恒功率柱塞变量泵驱动单元i总损失功率Pi W与转速n的关系如式(3)所示：The relationship between the total power loss P i W of the constant power piston variable pump drive unit i and the rotational speed n is shown in formula (3):

Figure GDA0002530935820000094
Figure GDA0002530935820000094

式(3)中，

Figure GDA0002530935820000095
为柱塞变量泵的损耗功率；
Figure GDA0002530935820000096
为三相异步电机的损耗功率；Cw1、Cw2、Cw3分别为与恒功率柱塞变量泵驱动单元结构和负载压力ps i有关的损耗功率综合系数；In formula (3),
Figure GDA0002530935820000095
is the power loss of the plunger variable pump;
Figure GDA0002530935820000096
is the power loss of the three-phase asynchronous motor; C w1 , C w2 , and C w3 are the comprehensive coefficients of power loss related to the drive unit structure of the constant-power piston variable pump and the load pressure p si respectively ;

步骤1.1、恒功率柱塞变量泵驱动单元i输入功率Pi input(n)等于该驱动单元总损失功率Pi W与输出功率Pi output之和，联立式(1)、式(2)及式(3)建立恒功率柱塞变量泵驱动单元能耗目标最优转速优化模型如式(4)：Step 1.1. The input power P i input (n) of the constant power piston variable pump drive unit i is equal to the sum of the total loss power P i W and the output power P i output of the drive unit, and the equations (1) and (2) are combined. And formula (3) to establish the constant power piston variable pump drive unit energy consumption target optimal speed optimization model as formula (4):

Figure GDA0002530935820000097
Figure GDA0002530935820000097

式(4)中，qi(n)为转速为n时该恒功率柱塞变量泵驱动单元实际输出流量；kq为引入的流量系数，其取值大于1；kn为引入的柱塞泵转速系数，其取值大于1；ni-min为该恒功率柱塞变量泵驱动单元最低允许工作转速，其值与柱塞泵型号有关；Pi input(n)为转速为n时该恒功率柱塞变量泵驱动单元输入功率；In formula (4), q i (n) is the actual output flow of the constant-power plunger variable pump drive unit when the rotational speed is n; k q is the introduced flow coefficient, and its value is greater than 1; k n is the introduced plunger Pump speed coefficient, its value is greater than 1; n i-min is the minimum allowable working speed of the constant power piston variable pump drive unit, and its value is related to the model of the piston pump; P i input (n) is the speed when the speed is n. Input power of the constant power piston variable pump drive unit;

步骤1.2、依照给定的恒功率柱塞变量泵驱动单元i的工况需求输出流量

Figure GDA0002530935820000101
以及负载压力ps i可由恒功率柱塞变量泵驱动单元能耗目标最优转速优化模型式(4)求解出该恒功率柱塞变量泵驱动单元i此工况需求下的最优节能目标转速
Figure GDA0002530935820000102
Step 1.2. Output flow according to the given working conditions of the constant power piston variable pump drive unit i
Figure GDA0002530935820000101
And the load pressure p s i can be calculated by the constant power piston variable pump drive unit energy consumption target optimal speed optimization model formula (4) to solve the constant power piston variable pump drive unit i under this working condition. The optimal energy-saving target speed
Figure GDA0002530935820000102

步骤2.1、针对由(a+b)个额定功率相同的异步电机-斜盘式恒功率轴向柱塞变量泵组成的恒功率柱塞变量泵驱动单元构成的恒功率柱塞变量泵组驱动系统，根据负载不同阶段的工况特性给定该恒功率柱塞变量泵组驱动系统的需求输出流量qneed、输出功率Poutput以及负载压力ps，调用a个恒功率柱塞变量泵驱动单元处于恒功率控制运行状态，b个恒功率柱塞变量泵驱动单元处于空载状态运行，分配方式如式(5)所示，即：Step 2.1, for the constant power piston variable pump group drive system composed of (a+b) asynchronous motor-swash plate constant power axial piston variable pump drive units with the same rated power , according to the working condition characteristics at different stages of the load, the required output flow q need , output power P output and load pressure ps of the constant power plunger variable pump drive system are given, and a constant power plunger variable pump drive unit is called to be in In the constant power control operation state, the b constant power piston variable pump drive units are running in the no-load state, and the distribution method is shown in formula (5), namely:

Figure GDA0002530935820000103
Figure GDA0002530935820000103

式(5)中，q(n1)为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速为n1时的总实际输出流量；qi(n1)为处于恒功率控制的第i个恒功率柱塞变量泵驱动单元转速为n1时的实际输出流量；kq为引入的流量系数，其取值大于1；

Figure GDA0002530935820000104
为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速为n1时的总实际输入功率；Pi W(n1)为处于恒功率控制的第i个恒功率柱塞变量泵驱动单元转速为n1时的总损耗功率；Pi output(n1)为处于恒功率控制的第i个恒功率柱塞变量泵驱动单元转速为n1时的实际输出功率；In formula (5), q(n 1 ) is the total actual output flow of a constant power piston variable pump drive unit in the constant power control operating state when the rotational speed is n 1 ; q i (n 1 ) is the constant power The actual output flow of the i-th constant power piston variable pump drive unit under control when the rotational speed is n 1 ; k q is the introduced flow coefficient, and its value is greater than 1;
Figure GDA0002530935820000104
is the total actual input power of a constant power piston variable pump drive unit in constant power control operating state when the rotational speed is n 1 ; P i W (n 1 ) is the i-th constant power piston variable in constant power control The total power loss of the pump drive unit when the rotational speed is n 1 ; P i output (n 1 ) is the actual output power of the i-th constant power piston variable pump drive unit under constant power control when the rotational speed is n 1 ;

步骤2.2、恒功率柱塞变量泵组驱动系统输入功率等于该恒功率柱塞变量泵组驱动系统总损失功率PW与输出功率Poutput之和；联立式(4)、式(5)设置恒功率柱塞变量泵组驱动系统能耗目标最优转速优化模型如式(6)：Step 2.2, the input power of the constant power plunger variable pump drive system is equal to the sum of the total loss power P W and the output power P output of the constant power plunger variable pump drive system; The optimal speed optimization model of the energy consumption target of the constant power piston variable pump drive system is as formula (6):

Figure GDA0002530935820000111
Figure GDA0002530935820000111

式(6)中，n1为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元转速；n2为b个处于空载运行状态的恒功率柱塞变量泵驱动单元转速；Cqa1、Cqa2为a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元的实际输出流量相关综合系数之和；Cwa1、Cwa2、Cwa3分别为与恒功率柱塞变量泵驱动单元结构和负载压力ps有关的损耗功率综合系数之和；In formula (6), n 1 is the rotational speed of a constant power piston variable pump drive unit in constant power control operation state; n 2 is the speed of b constant power piston variable pump drive units in no-load operation state; C qa1 , C qa2 are the sum of the actual output flow related comprehensive coefficients of a constant power piston variable pump drive unit in constant power control operation state; C wa1 , C wa2 , C wa3 are respectively related to the constant power piston variable pump drive The sum of the comprehensive coefficients of power loss related to the unit structure and the load pressure ps ;

其中，

Figure GDA0002530935820000112
in,
Figure GDA0002530935820000112

步骤2.3、依照给定的恒功率柱塞变量泵组驱动系统工况需求输出流量qneed、以及负载压力ps可由恒功率柱塞变量泵组驱动系统能耗目标最优转速优化模型式(6)求解出该恒功率柱塞变量泵组驱动系统此工况需求下a个处于恒功率控制运行状态的恒功率柱塞变量泵驱动单元的最优节能目标转速

Figure GDA0002530935820000113
和b个处于空载运行状态的恒功率柱塞变量泵驱动单元的最优节能目标转速
Figure GDA0002530935820000121
Step 2.3, according to the given constant power plunger variable pump group drive system, the output flow q need and the load pressure p s can be driven by the constant power plunger variable pump group to drive the system energy consumption target optimal speed optimization model formula (6 ) to solve the optimal energy-saving target speed of a constant power piston variable pump drive unit in the constant power control operation state under this working condition of the constant power piston variable pump drive system
Figure GDA0002530935820000113
and the optimal energy-saving target speed of b constant-power piston variable pump drive units in no-load operation
Figure GDA0002530935820000121

参见图2，本实施例中设计了恒功率柱塞变量泵组驱动单元变频调速控制电路原理图，对于由(a+b)个额定功率相同的异步电机-斜盘式恒功率轴向柱塞变量泵组成的恒功率柱塞变量泵组驱动系统，针对不同工作阶段，依据工况需求的输出流量和负载压力调用a个柱塞变量泵输出，b个柱塞变量泵空载。只需依照工况需求流量和负载压力，将a个异步电机接入变频器1线路以

Figure GDA0002530935820000122
运行，将b个异步电机接入变频器2线路以
Figure GDA0002530935820000123
运行，以达到恒功率柱塞变量泵组驱动系统节能的效果。Referring to Fig. 2, in this embodiment, the principle diagram of the variable frequency speed regulation control circuit of the drive unit of the constant power piston variable pump group is designed. The constant power plunger variable pump group drive system composed of plunger variable pumps, according to the output flow and load pressure required by the working conditions, calls a plunger variable pump output, and b plunger variable pumps have no load for different working stages. Only need to connect a asynchronous motor to the inverter 1 line according to the required flow rate and load pressure under the working conditions to
Figure GDA0002530935820000122
run, connect b asynchronous motors to the inverter 2 line to
Figure GDA0002530935820000123
operation, in order to achieve the effect of energy saving of the drive system of the constant power plunger variable pump set.

以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. The equivalent replacement or change of the inventive concept thereof shall be included within the protection scope of the present invention.

Claims (3)

1. An energy-saving control method for a constant-power plunger variable pump set driving system comprises the following steps: the constant-power plunger variable pump driving unit (3) consists of a three-phase asynchronous motor (1) and a constant-power plunger variable pump (2), the load hydraulic cylinder (4) is driven by the constant-power plunger variable pump driving unit (3), and the frequency converter (5) is used for adjusting the rotating speed of the three-phase asynchronous motor (1); the number of the constant-power plunger variable pump driving units (3) is two or more; the method is characterized in that: the load demand flow of the constant-power plunger variable pump set driving system is provided by all the constant-power plunger variable pump driving units together; the speed regulation control strategy of the constant-power plunger variable pump set driving system is as follows: according to the flow and pressure requirements of different stages of the load, calling different numbers of constant-power plunger variable pump driving units to be in constant-power control and no-load operation states respectively, establishing a rotation speed optimization model, calculating and obtaining the optimal energy-saving target rotation speed in the constant-power control and no-load operation states, and adjusting the rotation speed of a three-phase asynchronous motor of a constant-power plunger variable pump group driving system to the optimal energy-saving target rotation speed by using a frequency converter in each constant-power plunger variable pump driving unit.
2. The energy-saving control method of the constant-power plunger variable pump set driving system according to claim 1, which is characterized by comprising the following steps:
step 1, aiming at the ith constant-power plunger variable pump driving unit, setting the required output flow of the driving unit according to the working condition characteristics of different stages of loads
Figure FDA0002530935810000011
Output power
Figure FDA0002530935810000012
And load pressure
Figure FDA0002530935810000013
According to plunger pump workOperating principle, the output power of the drive unit
Figure FDA0002530935810000014
And the output flow qiThe relation is shown in formula (1):
Figure FDA0002530935810000015
in the formula (1), qiThe actual output flow of the constant power plunger variable pump driving unit is obtained; q. q.sVThe total volume loss flow of the plunger pump; q. q.sTThe theoretical output flow of the plunger pump is obtained; q. q.sV1、qV2、qV3、qV4Respectively obtaining plunger pump compression volume loss flow, expansion volume loss flow, flow distribution pair leakage loss flow and sliding shoe pair leakage loss flow;
calculating the actual output flow q of the constant-power plunger variable pump driving unit by the formula (1)iThe relation between (n) and the rotating speed n is shown as formula (2):
Figure FDA0002530935810000021
in the formula (2), Cq1、Cq2The correlation comprehensive coefficient of the actual output flow; cT1、Cv1、Cv21、Cv22、Cv3、Cv4The parameters are related to the flow loss of the plunger pump;
the total loss power P of the drive unit i of the constant power plunger variable pumpi WThe relation with the rotation speed n is shown in formula (3):
Figure FDA0002530935810000022
in the formula (3), the reaction mixture is,
Figure FDA0002530935810000023
for variable-displacement pumpsPower loss;
Figure FDA0002530935810000024
the loss power of the three-phase asynchronous motor; cw1、Cw2、Cw3Respectively, a constant power plunger variable pump driving unit structure and a load pressure ps iThe associated power loss integral coefficient;
step 1.1, inputting power P to driving unit i of constant power plunger variable pumpi input(n) is equal to the total power loss P of the drive uniti WAnd the output power Pi outputAnd (3) establishing an optimal rotating speed optimization model of the energy consumption target of the driving unit of the constant-power plunger variable pump according to the formula (4):
Figure FDA0002530935810000025
in the formula (4), qi(n) is the actual output flow of the constant power plunger variable pump driving unit when the rotating speed is n; k is a radical ofqThe value of the introduced flow coefficient is more than 1; k is a radical ofnThe value of the introduced plunger pump rotation speed coefficient is more than 1; n isi-minThe minimum allowable working rotating speed of the constant-power plunger variable pump driving unit is related to the type of the plunger pump; pi input(n) is the input power of the constant power plunger variable pump driving unit when the rotating speed is n;
step 1.2, outputting flow according to the working condition requirement of a given constant-power plunger variable pump driving unit i
Figure FDA0002530935810000031
And a load pressure ps iThe optimal energy-saving target rotating speed of the constant-power plunger variable pump driving unit i under the working condition requirement can be solved by an energy consumption target optimal rotating speed optimization model formula (4) of the constant-power plunger variable pump driving unit
Figure FDA0002530935810000032
3. The energy-saving control method of the constant-power plunger variable pump set driving system according to claim 1, which is characterized by comprising the following steps:
step 2.1, aiming at a constant power plunger variable pump set driving system formed by a constant power plunger variable pump driving unit consisting of (a + b) asynchronous motors with the same rated power and a swash plate type constant power axial plunger variable pump, the required output flow q of the constant power plunger variable pump set driving system is given according to the working condition characteristics of different stages of loadsneedOutput power PoutputAnd a load pressure psCalling a constant-power plunger variable pump driving units to be in a constant-power control operation state, calling b constant-power plunger variable pump driving units to be in an idle-load state operation, and distributing the mode as shown in a formula (5), namely:
Figure FDA0002530935810000033
in the formula (5), q (n)1) The rotating speed of a constant power plunger variable pump driving units in the constant power control running state is n1Total actual output flow rate; q. q.si(n1) The rotating speed of the ith constant-power plunger variable pump driving unit under constant-power control is n1Actual output flow rate of the time; k is a radical ofqThe value of the introduced flow coefficient is more than 1;
Figure FDA0002530935810000041
the rotating speed of a constant power plunger variable pump driving units in the constant power control running state is n1Total actual input power in time; pi W(n1) The rotating speed of the ith constant-power plunger variable pump driving unit under constant-power control is n1Total power loss in time; pi output(n1) The rotating speed of the ith constant-power plunger variable pump driving unit under constant-power control is n1Actual output power in time;
step 2.2, the input power of the driving system of the constant-power plunger variable pump set is equal to the total loss power P of the driving system of the constant-power plunger variable pump setWAnd the output power PoutputSumming; the energy consumption target optimal rotating speed optimization model of the driving system of the constant-power plunger variable pump set is set in the joint vertical type (4) and the formula (5) as shown in the formula (6):
Figure FDA0002530935810000042
in the formula (6), n1The rotating speed of a constant power plunger variable pump driving units in a constant power control running state; n is2B constant power plunger variable pump driving unit rotating speeds in no-load running state; cqa1、Cqa2The sum of the related comprehensive coefficients of the actual output flow of a constant power plunger variable pump driving units in a constant power control operation state; cwa1、Cwa2、Cwa3Respectively, a constant power plunger variable pump driving unit structure and a load pressure psThe sum of the associated loss power integral coefficients;
wherein,
Figure FDA0002530935810000043
step 2.3, outputting flow q according to the working condition requirement of a given constant-power plunger variable pump set driving systemneedAnd a load pressure psThe optimal energy-saving target rotating speed of a constant-power plunger variable pump driving units in a constant-power control running state under the condition requirement of the constant-power plunger variable pump driving system can be solved by an energy consumption target optimal rotating speed optimization model formula (6) of the constant-power plunger variable pump driving system
Figure FDA0002530935810000051
And b optimal energy-saving target rotating speeds of constant-power plunger variable pump driving units in no-load running state
Figure FDA0002530935810000052
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