CN111555666A - Motor variable frequency drive control method and system - Google Patents
Motor variable frequency drive control method and system Download PDFInfo
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- CN111555666A CN111555666A CN201910111293.3A CN201910111293A CN111555666A CN 111555666 A CN111555666 A CN 111555666A CN 201910111293 A CN201910111293 A CN 201910111293A CN 111555666 A CN111555666 A CN 111555666A
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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
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
- H02P5/747—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors mechanically coupled by gearing
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Abstract
The invention discloses a motor variable frequency drive control method, which comprises the steps of obtaining the real-time rotating speed of each motor, making a difference with a given rotating speed, inputting the difference to a corresponding speed regulator, and outputting a corresponding rotating speed signal; after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors; and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value. The invention also discloses a motor variable frequency drive control system, which comprises a processor and a memory, wherein the memory stores a computer program, and the program realizes the control method when being executed by the processor. The motor variable frequency drive control method and the motor variable frequency drive control system have the advantages of improving the working reliability of the motor and the like.
Description
Technical Field
The invention mainly relates to the technical field of motors, in particular to a motor variable frequency drive control method and a motor variable frequency drive control system.
Background
The multi-machine driving system is basically divided into two modes of hard connection and software connection, wherein the hard connection drives such as motor coaxial or gear connection; the flexible connection drive is mostly belt connection. The difference between hard and soft connections: in the hard connection driving, because the two motors are coaxial or in gear connection, the rotating speeds of the two motors are strictly synchronous; in the soft connection driving, because the two motors are connected by the belt, the belt is influenced by the outside and the slipping condition may occur, so that the rotating speeds of the two motors cannot be strictly synchronized, the condition that the rotating speeds of the two motors are inconsistent may occur at a certain moment in the operation process, and in addition, the condition that the initial position of the rotating shaft of the motor is not fixed also exists in the starting initial state. The power balance control is an important part in the control of the dual-machine driving system, and the power level of each driving system can be reduced as far as possible only if the dual-machine power is balanced, so that the purposes of cost reduction and efficiency improvement are achieved. At present, hard connection and soft connection have different control modes, such as:
1. in the control mode of master-slave follow-up in the hard connection mode, because the two motors are in hard connection, the rotating speeds are completely consistent, only the rotating speed is needed to be adopted for the speed controller of the master machine, and only the torque controller is needed for the slave machine;
2. in the master-slave follow-up control mode in the soft connection mode, because the two motors are in soft connection and the rotating speeds are not completely consistent, the rotating speeds of the master motor and the slave motor need to be respectively acquired to respectively control the master machine and the slave machine.
The two control modes represent two typical modes in the current hard-connection and soft-connection multi-machine driving system respectively. Regardless of the direct torque control mode or the vector control mode, the two modes are mainly different in that the acquisition sources of the rotating speed information caused by the synchronization of the rotating speeds of the two motors are different, and the two modes have the following common point: 1. the main machines adopt speed control; 2. the slave machines are controlled by torque; 3. the slave does not employ speed control. However, the above solutions have problems:
1. the mode 1 only adapts to a hard connection control system, the mode 2 only adapts to a soft connection control system, and both schemes cannot simultaneously adapt to two connection modes of hard connection and soft connection;
2. modes 1 and 2 can not realize operation in a master-slave mode under the condition that connection is disconnected, because connection is disconnected, a single torque ring can not realize stable operation of a motor, inconvenience is brought to debugging, testing and the like, and mode 2 is easy to runaway and fly from a slave machine (only torque control) under the condition that a belt is seriously slipped.
As shown in fig. 3, in addition, in the single-machine control system, the control system only has a torque controller, and does not have a speed controller, and the control of the electric vehicle is the case where only torque control alone is common, and in addition, the tested machine is loaded through torque control in the experimental system. According to the scheme, when the load torque of the motor is lost suddenly, for example, wheels slip or uneven road tires leave the ground in the process of ascending a slope of an electric vehicle, or under the conditions that the load stress of the motor is accompanied and tested due to the fault of a component tested article in an experimental system, the motor is easy to runaway under the independent torque control, equipment can be damaged in serious conditions, and safety accidents are caused.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a motor variable frequency drive control method and system for improving the working safety and reliability of a motor.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a motor variable frequency drive control method specifically comprises the following steps:
acquiring the real-time rotating speed of each motor, and inputting the real-time rotating speed to a corresponding speed regulator after the real-time rotating speed is different from a given rotating speed, and outputting a corresponding rotating speed signal;
after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors;
and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value.
As a further improvement of the above technical solution:
when the motor is plural and divided into a master motor and a slave motor, the given rotation speed inputted from the speed regulator of the slave motor is K times the given rotation speed of the master motor, where K > 1.
The input of the amplitude limiting controller of each slave motor is the smaller value of the torque set value of the master motor and the speed output value of the speed regulator of the slave motor.
And the main motor is in hard connection or soft connection with each slave motor.
The hard connection is coaxial connection or gear connection.
The flexible connection is a belt connection.
The number of the motors is two.
When the motor is single, the input of the amplitude limiting controller of the motor is the smaller value of the preset torque set value and the output value of the speed regulator of the motor.
The speed controller is a PI controller or a sliding mode controller or a fuzzy controller.
The invention also discloses a motor variable frequency drive control system, which comprises a processor and a memory, wherein the memory stores a computer program, and the program realizes the control method when being executed by the processor.
Compared with the prior art, the invention has the advantages that:
according to the motor variable frequency drive control method and system, speed control is added on the basis that an original slave motor only has torque control, the master motor and the slave motor can independently run (under the condition of solving connection) without modifying and processing any parameter, the convenience of debugging and testing is improved, and the problem of runaway and runaway of the slave motor under the condition of belt slippage can be avoided; and the power of multiple motors is balanced, the power level of each driving system is reduced, and the purposes of cost reduction and efficiency improvement are achieved.
The invention relates to a motor variable frequency drive control method and a system, wherein the control of a main motor comprises speed control and torque control, wherein the input in amplitude limiting control is the output value omega of a speed regulatorPI_out1The smaller value of the maximum limiting value of the torque is output Tref_M1And the normal work of the motor is guaranteed.
According to the motor variable frequency drive control method and the motor variable frequency drive control system, the slave motor can automatically perform seamless switching between the speed control mode and the torque control mode according to the load condition, the rotating speed of the slave motor is actively adjusted, faults such as overspeed and runaway of the slave motor are avoided, the synchronism between the master motor and the slave motor is realized to a certain extent, and the working reliability of the motor is improved.
Drawings
Fig. 1 is a control block diagram according to a first embodiment of the present invention.
Fig. 2 is a control block diagram of a second embodiment of the present invention.
Fig. 3 is a control block diagram of a single motor in the prior art.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
The first embodiment is as follows:
as shown in fig. 1, the motor variable frequency driving control method of this embodiment is applied to control of multiple motors, in this embodiment, two motors are a master motor and a slave motor, respectively, and the master motor and the slave motor are hard connected (such as coaxial or gear transmission connection) or soft connected (such as belt, etc.), and the specific control method is as follows:
acquiring real-time rotating speeds of a main motor and a slave motor, and inputting the real-time rotating speeds to corresponding speed regulators after the real-time rotating speeds are different from a given rotating speed, and outputting corresponding rotating speed signals;
after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors;
and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value.
The motor variable frequency drive control method of the invention adds speed control on the basis that the original slave motor only has torque control, under the condition of not modifying and processing any parameter, the master motor and the slave motor can independently run (under the condition of disconnecting the connection), the convenience of debugging and testing is improved, and the problem of runaway and runaway of the slave motor under the condition of belt slipping can be avoided.
As shown in fig. 1, in the present embodiment, the control of the main motor includes speed control and torque control, wherein the input in the limiter control takes the output value ω of the speed regulatorPI_out1With a maximum torque limit value Tref_M1_MaxOf the output Tref_M1And the normal work of the motor is guaranteed.
As shown in fig. 1, in the present embodiment, the given speed of the speed regulator is the given rotation speed ω of the master motor during the control of the slave motorr_refK times of (a), wherein K>1, the direction of the slave output force is ensured to do work in the positive direction, and the condition that the slave motor is in a braking state, so that the slave motor frequency converter reports high direct current voltage and other faults can not occur. In addition, during operation, the slave motor can automatically switch between the speed control mode and the torque control mode according to the load condition. In particular, the slave motorThe controlled amplitude limiting control is improved, and the amplitude limiting output Tref_M2Speed control output omegaPI_out2Given T from the limited output of the main motorref_M1Medium and small values. During normal operation of the slave motor, the given value k x omega is input by the slave motor speed regulatorr_refIs far greater than the speed feedback value omega of the slave motorr_Fdb_M2I.e. the difference between the two is also large, the output value omega after PI regulationPI_out2Is also large (greater than T)ref_M1) At this time, the input of the torque regulator of the motor takes a small value Tref_M1And thus controlled according to the input parameters of the master machine, i.e. when the speed control of the slave machine is not active, only torque control is performed. In the case of abnormal operation of the slave motor (e.g. overspeed), the speed feedback value ω is setr_Fdb_M2Larger, and input given value k x ωr_refThe difference between the two is small, and after the difference is regulated by PI, omega is outputPI_out2Less than input set value k x omegar_refThereby pressing a smaller value omegaPI_out2The control is carried out, namely the rotating speed control at the moment plays a role, the rotating speed of the slave motor is actively regulated, faults such as overspeed and runaway of the slave motor are avoided, the synchronism between the master motor and the slave motor is realized to a certain extent, and the working reliability of the motor is improved.
In the present embodiment, the speed controller is not limited to the PI controller, and a sliding mode controller, a fuzzy controller, or the like may be used in other embodiments. The torque controller is not limited to torque control, torque current control, etc.; the speed signals of all the motors are obtained by adopting an encoder mode or a coder-free mode; the overall control method of the motor is not limited to other relevant control methods such as vector control and direct torque control.
The invention also correspondingly discloses a motor variable frequency drive control system, which comprises a memory and a processor, wherein the memory stores a computer program, and the program realizes the control method when being executed by the processor.
Example two:
as shown in fig. 2, the motor variable frequency driving control method of the present embodiment is applied to the control of a single motor, and adds a control system with only single torque controlAnd the rotating speed control can effectively control the speed of the motor under the conditions of load stress relief and the like, so that the out-of-control condition cannot be caused. The specific control process is the same as that of the main motor in the first embodiment, except that the input of the amplitude limiting controller of the motor is the preset torque set value Tref_M1_SetOutput value omega of speed regulator of motorPI_out1The smaller of the two. Other details are the same as those in the first embodiment and are not described herein again.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A motor variable frequency drive control method is characterized in that,
acquiring the real-time rotating speed of each motor, and inputting the real-time rotating speed to a corresponding speed regulator after the real-time rotating speed is different from a given rotating speed, and outputting a corresponding rotating speed signal;
after the amplitude limiting adjustment is carried out on the rotating speed signal through an amplitude limiting controller, a torque set value is output to a corresponding torque regulator; simultaneously acquiring the torque real-time values of the motors;
and the torque regulator performs torque closed-loop control on the motor according to the torque set value and the torque real-time value.
2. The variable frequency drive control method of a motor according to claim 1, wherein when the motor is plural and divided into a master motor and a slave motor, the given rotation speed inputted from the speed regulator of the motor is K times the given rotation speed of the master motor, where K > 1.
3. The method of claim 2, wherein the input of the amplitude-limiting controller of each slave motor is the smaller of the torque set value of the master motor and the speed output value of the speed regulator of the slave motor.
4. The method for controlling the variable-frequency drive of the motor according to claim 2 or 3, wherein the master motor is in hard connection or soft connection with each slave motor.
5. The method of claim 4, wherein the hard connection is a coaxial connection or a geared connection.
6. The method of claim 4, wherein the flexible connection is a belt connection.
7. The method for controlling the variable frequency drive of the motor according to claim 2 or 3, wherein the number of the motors is two.
8. The method of claim 1, 2 or 3, wherein when the motor is single, the input of the amplitude-limiting controller of the motor is the smaller of the preset torque set value and the output value of the speed regulator of the motor.
9. The method for controlling a variable frequency drive of an electric motor according to claim 1, 2 or 3, wherein the speed controller is a PI controller or a sliding mode controller or a fuzzy controller.
10. A variable frequency drive control system for an electric motor, comprising a processor and a memory, said memory storing a computer program which, when executed by the processor, implements a control method as claimed in any one of claims 1 to 9.
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| CN201910111293.3A CN111555666A (en) | 2019-02-12 | 2019-02-12 | Motor variable frequency drive control method and system |
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| CN201910111293.3A CN111555666A (en) | 2019-02-12 | 2019-02-12 | Motor variable frequency drive control method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113193791A (en) * | 2021-05-31 | 2021-07-30 | 中国科学院国家天文台南京天文光学技术研究所 | Double-motor synchronous control method for large-caliber telescope splicing arc motor |
| CN114337383A (en) * | 2021-11-30 | 2022-04-12 | 中国船舶重工集团公司第七一一研究所 | Multi-motor parallel drive control system and control method thereof |
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Cited By (2)
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Application publication date: 20200818 |