CN110829900A - Master-slave control method of high-voltage frequency converter - Google Patents
Master-slave control method of high-voltage frequency converter Download PDFInfo
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- CN110829900A CN110829900A CN201911063357.3A CN201911063357A CN110829900A CN 110829900 A CN110829900 A CN 110829900A CN 201911063357 A CN201911063357 A CN 201911063357A CN 110829900 A CN110829900 A CN 110829900A
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/48—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds
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Abstract
The invention discloses a master-slave control method of a high-voltage frequency converter, which is applicable to a control system of the high-voltage frequency converter and comprises the following steps: step S1, providing a master frequency converter and a slave frequency converter; step S2, the frequency converter of the host computer receives the speed instruction sent by the control system and carries out primary processing; synchronously sending a speed instruction after the preliminary treatment to the slave frequency converter so as to synchronously control the speed of the slave frequency converter; step S3, the slave frequency converter obtains the slave speed detection value through the slave speed regulator and feeds back the slave speed detection value to the master frequency converter; step S4, the frequency converter of the main machine receives the detected value of the speed of the auxiliary machine, and calculates the detected value of the speed of the auxiliary machine according to the detected value of the speed of the main machine and the torque compensation command so as to output the compensation result; and step S5, the master frequency converter sends the calculation result to the slave frequency converter so as to compensate the torque command of the slave frequency converter. Has the advantages that: and high-precision synchronous control is realized through vector control without a speed sensor.
Description
Technical Field
The invention relates to the technical field of high-voltage frequency converters, in particular to a master-slave control method of a high-voltage frequency converter.
Background
The high-voltage frequency converter is an electric energy control device which can convert a power frequency power supply into another frequency by effectively controlling the on-off of a power semiconductor device. Because the rotating frequency of the dragged motor is adjustable, the load can effectively save electricity and realize the highest working efficiency.
At present, when a high-voltage frequency converter faces constant-torque loads such as a belt conveyor, a pipe belt conveyor and the like, a plurality of motors are required to drive the same load together, and master-slave control of a plurality of frequency converters is often required, so that synchronous operation of the plurality of motors is realized.
The traditional master-slave control mode generally adopts a strategy of master machine speed control and slave machine torque following. Due to the torque response lag, the speed synchronization precision is not high, the belt is easy to stretch or accumulate when the large-load heavy-load starting is carried out, and the belt is broken when the large-load heavy-load starting is serious, so that the requirements of certain high-precision synchronous control occasions cannot be met.
Disclosure of Invention
Aiming at the problems in the prior art, a master-slave control method of a high-voltage frequency converter is provided.
The specific technical scheme is as follows:
a master-slave control method of a high-voltage frequency converter is suitable for a control system of the high-voltage frequency converter, and specifically comprises the following steps:
step S1, providing a master frequency converter and a slave frequency converter, wherein the slave frequency converter is in communication connection with the master frequency converter;
step S2, the host frequency converter receives a speed instruction sent by the control system and carries out primary processing on the speed instruction;
meanwhile, the speed instruction after the preliminary treatment is synchronously sent to the slave frequency converter so as to synchronously control the speed of the slave frequency converter;
step S3, the master frequency converter obtains a master speed detection value through a master speed regulator, the slave frequency converter obtains a slave speed detection value through a slave speed regulator, and the slave speed detection value is fed back to the master frequency converter;
step S4, the master frequency converter receives the slave speed detection value, and calculates the slave speed detection value according to the master speed detection value and the torque compensation command to output a compensation result;
and step S5, the master frequency converter sends the calculation result to the slave frequency converter so as to compensate the torque command of the slave frequency converter.
Preferably, the main machine frequency converter is adjusted in a speed-sensorless vector control mode.
Preferably, the slave frequency converter is adjusted in a speed-sensorless vector control mode.
Preferably, the master frequency converter is in communication connection with the slave frequency converter through an optical fiber.
Preferably, a host optical converter is arranged on the host frequency converter.
Preferably, a slave optical converter is arranged on the slave frequency converter, and the slave optical converter is connected with the master optical converter through optical fiber communication.
Preferably, in step S2, the host frequency converter performs acceleration/deceleration curve processing on the speed command.
Preferably, in step S3, the torque supplement command is calculated by the following formula:
torque_cmp＝2*(i1-i2)/(i1+i2)*ars_out；
wherein the content of the first and second substances,
torque _ cmp is used for representing the torque compensation quantity of the slave frequency converter;
i1the current detection value is used for representing the current detection value of the main frequency converter;
i2for representing a current detection value of the slave frequency converter, wherein i1≠i2；
ars _ out is used to represent the output value of the host speed regulator.
Preferably, the output value of the host speed regulator is calculated by the following formula:
wherein the content of the first and second substances,
ars _ out is used to represent the output value of the host speed regulator;
Kpa scaling factor to represent the host speed regulator;
Kian integral coefficient for representing the host speed regulator;
n1for representing a detected estimate of the speed of the main frequency converter.
The technical scheme of the invention has the beneficial effects that: a master-slave control method for high-voltage frequency converter features that a special master-slave control method is used, the synchronous control of speed and torque is considered in control loop, and the high-speed optical fibre communication mode is used to real-timely detect and exchange the running data of speed and torque of master and slave motors, so keeping the speed synchronization and compensating torque.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a flowchart illustrating steps of a master-slave control method of a high-voltage inverter according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a velocity sensorless vector control method of a master-slave control method of a high-voltage inverter according to an embodiment of the present invention;
fig. 3 is a control schematic block diagram of a master-slave control method of a high-voltage inverter according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a pipe belt machine of a master-slave control method of a high-voltage frequency converter according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention comprises a master-slave control method of a high-voltage frequency converter, which is suitable for a control system of the high-voltage frequency converter, wherein the master-slave control method specifically comprises the following steps:
step S1, providing a master frequency converter and a slave frequency converter, wherein the slave frequency converter is in communication connection with the master frequency converter;
step S2, the host frequency converter receives the speed instruction sent by the control system and carries out preliminary processing on the speed instruction, for example, the host frequency converter carries out acceleration and deceleration curve processing on the speed instruction;
meanwhile, a speed instruction after the preliminary treatment is synchronously sent to the slave frequency converter so as to synchronously control the speed of the slave frequency converter;
step S3, the master frequency converter obtains the master speed detected value through a master speed regulator, the slave frequency converter obtains the slave speed detected value through a slave speed regulator, and the slave speed detected value is fed back to the master frequency converter;
step S4, the frequency converter of the main machine receives the detected value of the speed of the auxiliary machine, and calculates the detected value of the speed of the auxiliary machine according to the detected value of the speed of the main machine and the torque compensation command so as to output a compensation result;
and step S5, the master frequency converter sends the calculation result to the slave frequency converter so as to compensate the torque command of the slave frequency converter.
Through the technical scheme of the master-slave control method of the high-voltage frequency converter, shown in the combined drawings of fig. 1-3, the master frequency converter and the slave frequency converter are interacted through optical fiber communication, so that long-distance transmission between the master frequency converter and the slave frequency converter can be achieved, and the transmission precision of data can be improved.
Further, the master frequency converter receives the speed command sent by the control system and performs preliminary processing on the speed command, for example, the master frequency converter performs acceleration and deceleration curve processing on the speed command and simultaneously synchronously sends the speed command after the preliminary processing to the slave frequency converter so as to synchronously control the speed of the slave frequency converter.
Furthermore, the master frequency converter acquires a master speed detected value through the master speed regulator, the slave frequency converter acquires a slave speed detected value through the slave speed regulator, and the slave speed detected value is fed back to the master frequency converter; furthermore, the speed synchronization can be kept by detecting and exchanging the running data such as the speed of the master frequency converter and the speed of the slave frequency converter in real time, the speed accuracy of the master frequency converter and the slave frequency converter can be about 1%, and the good synchronization accuracy can be achieved from the starting process to the stable running.
Furthermore, the master frequency converter receives the slave speed detection value and calculates the slave speed detection value according to the master speed detection value and the torque compensation command so as to output a compensation result, and the master frequency converter sends the calculation result to the slave frequency converter so as to compensate the torque command of the slave frequency converter.
Wherein the torque supplement command is calculated by the following formula:
torque_cmp＝2*(i1-i2)/(i1+i2)*ars_out；
wherein the content of the first and second substances,
torque _ cmp is used for representing the torque compensation quantity of the slave frequency converter;
i1the current detection value is used for representing the current detection value of the frequency converter of the host machine;
i2for indicating the current pick-up value of the slave frequency converter, wherein i1≠i2；
ars _ out is used to represent the output value of the host speed regulator.
Further, the output value of the host speed regulator is calculated by the following formula:
wherein the content of the first and second substances,
ars _ out is used to represent the output value of the host speed regulator;
Kpa scaling factor for representing a host speed regulator;
Kian integral coefficient for representing a host speed regulator;
n1used for representing the speed detection estimation value of the frequency converter of the main machine.
Further, a specific master-slave control method is adopted, synchronous control of speed and torque is comprehensively considered in a control loop, running data such as speed, torque and the like of the master motor and the slave motor are detected and exchanged in real time in a high-speed optical fiber communication mode, speed synchronization is kept, torque compensation is carried out at the same time, and finally high-precision synchronous control of the master motor and the slave motor is realized through vector control without a speed sensor. The master-slave control mode of the universal high-voltage frequency converter is adopted, the speed and torque synchronization precision of the master motor and the slave motor is about 5 percent, the speed and torque synchronization precision of the master motor and the slave motor can reach about 1 percent by adopting the master-slave control method of the high-voltage frequency converter, and better synchronization precision can be achieved from the starting process to the stable operation.
In the above technical solution, as a preferred embodiment, the master frequency converter and the slave frequency converter are adjusted by a speed sensorless vector control method.
In this embodiment, as shown in fig. 2, the vector control without speed sensor is to control the exciting current and the torque current separately through coordinate transformation processing, and then identify the rotation speed by controlling the voltage and current on the stator winding of the motor to achieve the purpose of controlling the exciting current and the torque current. The control mode has wide speed regulating range, large starting torque and reliable work.
In a preferred embodiment, a host optical converter is disposed on the host frequency converter.
In the above technical solution, as a preferred embodiment, a slave optical converter is disposed on the slave frequency converter, and the slave optical converter is connected to the master optical converter through optical fiber communication.
In this embodiment, as shown in fig. 4, the pipe-band machine item includes a master high-voltage frequency converter and a slave high-voltage frequency converter, which are respectively connected to a three-phase circuit of AC 10KV/50Hz, wherein a master optical converter is disposed on the master high-voltage frequency converter, a slave optical converter is disposed on the slave high-voltage frequency converter, the master optical converter and the slave optical converter are transmitted through a multimode silica optical cable, that is, the multimode silica optical cable is used for long-distance transmission, wherein the master optical converter and the master high-voltage frequency converter are in communication connection through a plastic optical fiber, and the slave optical converter and the slave high-voltage frequency converter are in communication connection through a plastic optical fiber.
Further, because the control precision of the pipe belt conveyor is high, a client requires to use a high-precision master-slave control mode, namely, the master-slave control method of the high-voltage frequency converter can achieve 1% of speed synchronization precision and meet the client requirements.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (9)
1. A master-slave control method of a high-voltage frequency converter is suitable for a control system of the high-voltage frequency converter, and is characterized by comprising the following steps:
step S1, providing a master frequency converter and a slave frequency converter, wherein the slave frequency converter is in communication connection with the master frequency converter;
step S2, the host frequency converter receives a speed instruction sent by the control system and carries out primary processing on the speed instruction;
meanwhile, the speed instruction after the preliminary treatment is synchronously sent to the slave frequency converter so as to synchronously control the speed of the slave frequency converter;
step S3, the master frequency converter obtains a master speed detection value through a master speed regulator, the slave frequency converter obtains a slave speed detection value through a slave speed regulator, and the slave speed detection value is fed back to the master frequency converter;
step S4, the master frequency converter receives the slave speed detection value, and calculates the slave speed detection value according to the master speed detection value and the torque compensation command to output a compensation result;
and step S5, the master frequency converter sends the calculation result to the slave frequency converter so as to compensate the torque command of the slave frequency converter.
2. The master-slave control method of the high-voltage inverter according to claim 1, wherein the master inverter is adjusted by a vector control method without a speed sensor.
3. The master-slave control method of the high-voltage inverter as claimed in claim 1, wherein the slave inverter is adjusted by a velocity sensorless vector control method.
4. The master-slave control method of the high-voltage frequency converter according to claim 1, wherein the master frequency converter and the slave frequency converter are connected by optical fiber communication.
5. The master-slave control method of the high-voltage inverter as claimed in claim 1, wherein a master optical converter is disposed on the master inverter.
6. The master-slave control method of the high-voltage inverter as claimed in claim 5, wherein a slave optical converter is disposed on the slave inverter, and the slave optical converter is connected to the master optical converter through optical fiber communication.
7. The master-slave control method of the high-voltage inverter of claim 1, wherein in the step S2, the master inverter performs an acceleration/deceleration curve processing on the speed command.
8. The master-slave control method of the high-voltage inverter according to claim 1, wherein in the step S3, the torque supplement command is calculated by the following formula:
torque_cmp＝2*(i1-i2)/(i1+i2)*ars_out；
wherein the content of the first and second substances,
torque _ cmp is used for representing the torque compensation quantity of the slave frequency converter;
i1the current detection value is used for representing the current detection value of the main frequency converter;
i2for representing a current detection value of the slave frequency converter, wherein i1≠i2；
ars _ out is used to represent the output value of the host speed regulator.
9. The master-slave control method of the high-voltage inverter of claim 8, wherein the output value of the master speed regulator is calculated by the following formula:
wherein the content of the first and second substances,
ars _ out is used to represent the output value of the host speed regulator;
Kpa scaling factor to represent the host speed regulator;
Kifor indicating saidThe integral coefficient of the host speed regulator;
n1for representing a detected estimate of the speed of the main frequency converter.
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Cited By (1)
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| CN111355406A (en) * | 2020-04-02 | 2020-06-30 | 苏州三尔电气有限公司 | Variable-frequency transmission system for oil drilling platform |
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