CN111969904A - High-voltage synchronous motor soft starting equipment and starting method thereof - Google Patents
High-voltage synchronous motor soft starting equipment and starting method thereof Download PDFInfo
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention provides high-voltage synchronous motor soft starting equipment and a starting method thereof, wherein the high-voltage synchronous motor soft starting equipment comprises a step-down transformer, a step-up transformer, a plurality of rectifier bridges, a plurality of inverter bridges, an analog signal acquisition unit, a zero-crossing detection unit, an FPGA (field programmable gate array) and an MCU (microprogrammed control unit); the step-down transformer is used for reducing the voltage of the high-voltage power grid and then taking the reduced voltage as the input voltage of the rectifier bridge; the rectifier bridge rectifies the input voltage and outputs direct-current voltage; the inverter bridge inverts the input direct-current voltage into an alternating-current signal and transmits the alternating-current signal to the low-voltage end of the booster transformer; the step-up transformer selectively outputs the boosted voltage input by the inverter bridge to a high-voltage power grid as a starting signal of the synchronous motor; the analog signal acquisition unit respectively acquires a voltage signal at the low-voltage side of the step-down transformer, an output current signal of the rectifier bridge and an output voltage signal of the inverter and transmits the acquired signals to the MCU; the MCU generates a control signal to drive the synchronous motor to automatically change the phase from the intermittent phase change direction.
Description
Technical Field
The invention relates to the technical field of synchronous motor starting equipment, in particular to high-voltage synchronous motor soft starting equipment and a starting method thereof.
Background
The synchronous motor is a common alternating current motor as the asynchronous motor, the synchronous motor is the core of a power system, when three-phase alternating current is introduced into a stator of the synchronous motor, a rotating magnetic field can be generated in an air gap, when direct current is introduced into a rotor excitation winding, a static magnetic field with constant polarity can be generated, the rotor magnetic field synchronously rotates along with the rotating magnetic field of the stator under the action of magnetic pulling force of the stator magnetic field, the speed of the rotor is equal to the speed and the direction of the rotating magnetic field, and the synchronous rotating speed is irrelevant to the size of a load; the rotor of the asynchronous motor is slower than the rotating magnetic field of the stator, and has a difference in rotation speed, so that the asynchronous motor is asynchronous. The power factor of the synchronous motor can be adjusted, the operation efficiency can be improved, and the synchronous motor can be used for power compensation. In the application occasions with the voltage of a power grid more than 6KV and the power more than 2500KW, a synchronous motor is usually selected.
In the process of frequency conversion soft start of the high-voltage synchronous motor, a mechanical position sensor is arranged to obtain the position of a motor rotor and then the opening state of an inverter bridge arm is controlled in the traditional mode, the output torque of the synchronous motor is determined by the phase conversion control of an inverter bridge, and the installation of the mechanical rotor position sensor not only needs a certain space position, but also can increase the cost and complexity of the system and reduce the reliability and the anti-interference capability of the system. Therefore, it is the mainstream to adopt position-sensorless position determination and realize synchronous motor soft start.
Disclosure of Invention
In view of the above, the present invention provides a soft start apparatus for a high voltage synchronous motor and a start method thereof, which can control the synchronous motor at a power supply terminal without using a position sensor for rotor position detection.
The technical scheme of the invention is realized as follows:
on one hand, the invention provides soft starting equipment of a high-voltage synchronous motor, which comprises a step-down transformer, a step-up transformer, a plurality of rectifier bridges, a plurality of inverter bridges, an analog signal acquisition unit, a zero-crossing detection unit, an FPGA and an MCU; the high-voltage side of the step-down transformer is connected with the high-voltage power grid in parallel, the low-voltage side of the step-down transformer is electrically connected with the input end of the rectifier bridge, the output end of the rectifier bridge is electrically connected with the input end of the inverter bridge, the output end of the inverter bridge is electrically connected with the low-voltage side of the step-up transformer, and the high-voltage side of the step-up transformer is connected with the high-voltage power grid; the input end of the analog signal acquisition unit is electrically connected with the low-voltage side of the step-down transformer, the output end of the rectifier bridge and the output end of the inverter bridge respectively, and the output end of the analog signal acquisition unit is electrically connected with the universal input and output end of the MCU; the input end of the zero-crossing detection unit is electrically connected with the low-voltage side of the step-down transformer, and the output end of the zero-crossing detection unit is electrically connected with the input end of the FPGA; the input end of the FPGA is also electrically connected with the feedback ends of the rectifier bridge and the inverter bridge, and the output end of the FPGA is electrically connected with the trigger ends of the rectifier bridge and the inverter bridge; the FPGA is also in communication connection with the MCU;
the step-down transformer is used for reducing the voltage of the high-voltage power grid and then taking the reduced voltage as the input voltage of the rectifier bridge;
the rectifier bridge rectifies the input voltage and outputs direct-current voltage;
the inverter bridge inverts the input direct-current voltage into an alternating-current signal and transmits the alternating-current signal to the low-voltage end of the booster transformer;
the step-up transformer selectively outputs the boosted voltage input by the inverter bridge to a high-voltage power grid as a starting signal of the synchronous motor;
the analog signal acquisition unit respectively acquires a voltage signal at the low-voltage side of the step-down transformer, an output current signal of the rectifier bridge and an output voltage signal of the inverter and transmits the acquired signals to the MCU;
the MCU calculates the position and the rotating speed of the rotor of the synchronous motor according to signals of a rectifier bridge and an inverter input by the FPGA and signals collected by the analog signal collecting unit, generates control signals and sends the control signals to the FPGA, and the output end of the FPGA selectively sends the control signals of the MCU to a trigger end of the rectifier bridge and a trigger end of the inverter and drives the synchronous motor to be switched from intermittent switching to automatic switching.
On the basis of the technical scheme, preferably, the step-down transformer and the step-up transformer are both three-winding transformers, the high-voltage sides of the step-down transformer and the step-up transformer are both in a delta connection method, and the low-voltage sides of the step-down transformer and the step-up transformer are respectively in a star connection method and a delta connection method; two groups of rectifier bridges and inverter bridges which are arranged in series are connected in parallel between the low-voltage side of the step-down transformer and the low-voltage side of the step-up transformer; the analog signal acquisition unit respectively samples the line voltage at the low-voltage side of the step-down transformer, the bus current at the output end of the rectifier bridge, the line voltage and the phase current output by the inverter bridge, and inputs the sampled voltage or current signals into an AD port of the MCU.
Preferably, the rectifier bridge and the inverter bridge are formed by three bridge arms formed by six light-operated thyristors with freewheeling diodes, and an upper bridge arm and a lower bridge arm of each bridge arm are respectively provided with one light-operated thyristor; voltage signals of a freewheeling diode on the light-controlled silicon controlled rectifier are isolated and output to the input end of the FPGA as rectification feedback signals or inversion feedback signals; and the grid of the light-operated controllable silicon is in signal connection with the output end of the FPGA.
Further preferably, the zero-cross detection unit detects a line voltage at a low-voltage side of the step-down transformer, converts the line voltage signal into a zero-cross detection signal, and outputs the zero-cross detection signal to the input end of the FPGA.
Still further preferably, the specific calculation process of calculating the position of the synchronous motor rotor and the motor rotation speed to generate the control signal is as follows:
taking a star-connected three-phase synchronous motor as an example, the synchronous motor comprises three phases a, b and c, and when an armature is positioned between two phases ab, the relationship between the back electromotive force of the phase ab and the line voltage is as follows: when the armature is at 0 degree, the back electromotive force output by the armature windingabEqual to ab phase line voltage UabAnd the included angle between the armature and the phase a is x; establishing a voltage equation of the three-phase alternating current synchronous motor,
a is the line voltage amplitude;ab、bcandcais the back electromotive force between each two phases; x is also the rotor real-time position angle;
the motor speed during soft start is varied in stages, the motor speed being dependent on the frequency of the inverter bridge conduction signal.
On the other hand, the invention also provides a starting method of the high-voltage synchronous motor soft starting equipment, which comprises the following steps:
s1: given frequency control: when the motor is static, initializing high-voltage synchronous motor soft start equipment, connecting the high-voltage synchronous motor soft start equipment to a high-voltage power grid, exciting the synchronous motor by the high-voltage synchronous motor soft start equipment, and outputting a forward rotating magnetic field of the motor by an inverter bridge according to a voltage frequency given value to enable the synchronous motor to start rotating; the analog signal acquisition unit and the zero-crossing detection unit start sampling, an integral casting time angle alpha is given, and the initial position of a synchronous motor rotor is judged; according to the formula n '60 f/p, n' is the rotating speed of the synchronous motor, f is the frequency, p is the number of pole pairs of the synchronous motor, n is the rated rotating speed, and the given frequency of the voltage during starting does not exceed 5 Hz; the given frequency determines the upper limit of the rotating speed of the synchronous motor;
s2: intermittent commutation operation: adjusting the given value of the inverter bridge voltage frequency to be 5Hz at the motor rotation speed n'<When the voltage of the synchronous motor is 10% n, adopting forced phase conversion to reduce the current at the output end of the inverter bridge to zero, turning off all the light-controlled thyristors of the inverter bridge, providing a trigger signal to the grid electrode of the light-controlled thyristors of the inverter bridge by the MCU and the FPGA to realize forced intermittent phase conversion, enabling the light-controlled thyristors of the inverter bridge to be conducted, and enabling the light-controlled thyristors of the rectifier bridge to be conducted to recover the output of rectified voltage again, thereby ensuring reliable phase conversion when the synchronous motor operates at low speed; no-load phase change advance angle gamma of photo-controlled silicon controlled rectifier of inverter bridge during intermittent phase change operation0＝0；
S3: naturally switching the phase: when the motor rotating speed n' is 10% n, stopping the forced phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge, and realizing the natural phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge by utilizing the counter electromotive force at the stator side of the synchronous motor;
the phase change lead angle of the photo-controlled silicon controlled rectifier of the inverter bridge is gamma when the inverter bridge is loaded, the phase change overlap angle mu is related to the load of the synchronous motor, and mu is 0 when the bus current is interrupted; advancing angle gamma in no-load commutation when natural commutation is performed by means of inverse electromotive force in no-load condition0The light-operated controlled silicon of the inverter bears reverse voltage within a period of time, so that the light-operated controlled silicon is turned off; when the motor is loaded, the motor is influenced by phase-changing overlap angle mu, the energizing time of the light-operated controlled silicon is prolonged, and the angle representing the time of the light-operated controlled silicon bearing reverse voltage is gamma-mu-gamma0- θ - μ; the residual angle for phase conversion is theta, and theta is the power angle of the synchronous motor; the phase-change residual angle is 15 degrees; during natural commutation, the no-load commutation lead angle gamma of the light-controlled silicon controlled rectifier of the inverter bridge0＝60°；
S4: and (3) natural phase inversion operation: stopping given frequency control, and gradually adjusting the inverter bridge voltage frequency to 50Hz of power frequency; introducing current closed-loop control, and respectively acquiring bus currents Yidcc and Oidcc at the output end of the rectifier bridge and currents Yiaa, YIcc, Oiaa and Oicc output by the inverter bridge through an analog signal acquisition unit; the bus current of rectifier bridge output end is as the input of current closed loop, and the electric current of inverter bridge output is as feedback input, and the bus current of rectifier bridge output end is adjusted through the rectification delay angle alpha that changes the light-operated controlled silicon of rectifier bridge, and then realizes synchronous machine's speed governing operation:
wherein U isdU can be adjusted by changing the rectification delay angle alpha of the light-operated controlled silicon of the rectifier bridge for the average value of the input voltage of the inverter bridgedThe magnitude of the voltage of the rectifier bridge and the magnitude of the bus current at the output end of the rectifier bridge; c. CeIs an electromotive constant; phi is magnetic flux;
in the speed regulation process, the calculation of the position of the synchronous motor rotor is continuously kept; introducing a rotating speed closed loop to adjust the rotating speed, wherein the given speed value of the rotating speed loop is preset; the voltage frequency of the synchronous motor terminal fluctuates, and the voltage frequency of the synchronous motor terminal is obtained according to the output voltage frequency of the step-up transformer; generating an additional rotating speed fine tuning signal according to the difference value of the voltage of the power grid and the voltage frequency of the synchronous motor terminal and the actual rotating speed of the synchronous motor, wherein the rotating speed fine tuning signal is added to the input end of the current loop after PID operation, and the input of the current loop is adjusted; the synchronous motor in the state is accelerated until the rotating speed of the synchronous motor reaches 95% of the rated rotating speed;
s5: synchronization grid connection: when the rotating speed of the synchronous motor reaches 95% of the rated rotating speed, the synchronous motor starts to carry out synchronization, excitation is adjusted, and when the synchronous motor back electromotive force amplitude and the grid voltage amplitude are not more than 300V, the synchronous motor back electromotive force phase and the grid voltage phase are within 4 degrees and the synchronous motor rotating speed deviation is within 10 revolutions per minute, the synchronous motor is connected to the grid and is connected to a high-voltage grid;
s6: power frequency operation: the motor enters a power frequency running state.
Compared with the prior art, the soft starting equipment and the starting method thereof for the high-voltage synchronous motor have the following beneficial effects that:
(1) the invention adopts a position-sensorless detection method, utilizes the back electromotive force of the armature winding of the synchronous motor to indirectly detect the actual position of the rotor, the flux linkage position corresponding to the three-phase winding is related to the position of the rotor, and the zero crossing point of the back electromotive force can judge six spatial positions of the rotor in a 360-degree space, so that the MCU detects the zero crossing point of the back electromotive force corresponding to the triggering state of the inverter bridge and outputs the on or off signal of each photo-controlled silicon of the inverter bridge to realize the tracking of the position of the rotor;
(2) according to the invention, two parallel star-shaped branches and triangular branches are adopted to respectively carry out AC-DC-AC conversion, and the pulsation is carried out for twelve times in each AC power supply period to form twelve pulse waves, so that 5-order and 7-order harmonics of a rectifier bridge can be eliminated, and the rectification effect is improved;
(3) the triggering and feedback of the light-operated silicon controlled rectifier of the rectifier bridge and the inverter adopt a light-operated mode, and the rectifier bridge and the inverter have an isolation function and are not easy to be interfered;
(4) the current loop and rotating speed loop double closed loop control is adopted to adjust the direct current and the rotating speed output by the rectifier bridge, so that the starting process is more stable and reliable;
(5) the reversing structure by adopting the counter electromotive force of the synchronous motor is simple, but the amplitude of the counter electromotive force is low at low rotating speed, and the light-operated silicon controlled rectifier of the inverter bridge cannot be reliably switched off, so that the intermittent reversing mode is adopted to intervene in the low-speed soft start of the synchronous motor;
(6) meanwhile, synchronous grid connection is carried out when the amplitude of the back electromotive force, the phase of the back electromotive force and the difference of the rotating speed are all in a very small range, and equipment can hardly bear impact current during grid connection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a main circuit wiring diagram of a soft starting device and a starting method of a high-voltage synchronous motor according to the present invention;
FIG. 2 is a wiring diagram of a step-down transformer, a step-up transformer, a plurality of rectifier bridges and an inverter bridge of the soft starting device and the starting method thereof for the high-voltage synchronous motor of the present invention;
FIG. 3 is a wiring diagram of the line voltage of the low-voltage side of the step-down transformer by the analog signal acquisition unit and the wiring diagram of the zero-crossing detection signal detected by the zero-crossing detection unit of the soft starting device of the high-voltage synchronous motor and the starting method thereof according to the present invention;
FIG. 4 is a wiring diagram of the sampling of the line voltage output by the inverter bridge by the analog signal acquisition unit of the high-voltage synchronous motor soft start device and the starting method thereof;
FIG. 5 is a wiring diagram of the soft start device of the high voltage synchronous motor and the starting method thereof according to the present invention, wherein the analog signal acquisition unit samples the phase current outputted by the inverter bridge;
FIG. 6 is a feedback terminal wiring diagram of the rectifier bridge of the branch of the FPGA and star connection and the light-operated controlled silicon of the inverter of the soft starting device and the starting method of the high-voltage synchronous motor of the invention;
FIG. 7 is a diagram of the trigger terminals of the rectifier bridge of the branch circuit of the FPGA and star connection and the photo-controlled silicon of the inverter of the soft starting device of the high-voltage synchronous motor and the starting method thereof of the invention;
FIG. 8 is a block diagram of a control system of a current loop and a rotation speed loop of the soft starting device of the high-voltage synchronous motor and the starting method thereof;
fig. 9 is a flow chart of the soft starting device of the high-voltage synchronous motor and the starting method thereof.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 and fig. 2, the technical solution of the present invention is implemented as follows:
the invention provides a soft starting device of a high-voltage synchronous motor, which comprises:
the step-down transformer is used for reducing the voltage of the high-voltage power grid and then taking the reduced voltage as the input voltage of the rectifier bridge;
the step-up transformer is used for selectively outputting the boosted voltage input by the inverter bridge to a high-voltage power grid as a starting signal of the synchronous motor;
a rectifier bridge for rectifying an input voltage and outputting a direct current voltage;
the inverter bridge inverts the input direct-current voltage into an alternating-current signal and transmits the alternating-current signal to the low-voltage end of the booster transformer;
the analog signal acquisition unit is used for respectively acquiring a voltage signal at the low-voltage side of the step-down transformer, an output current signal of the rectifier bridge and an output voltage signal of the inverter and transmitting the acquired signals to the MCU;
the zero-crossing detection unit is used for detecting the line voltage of the low-voltage side of the step-down transformer, converting a line voltage signal into a zero-crossing detection signal and outputting the zero-crossing detection signal to the input end of the FPGA;
the output end of the zero-crossing detection unit is electrically connected with the input end of the FPGA; the input end of the FPGA is also electrically connected with the feedback ends of the rectifier bridge and the inverter bridge, and the output end of the FPGA is electrically connected with the trigger ends of the rectifier bridge and the inverter bridge; the FPGA is also in communication connection with the MCU;
the MCU calculates the position and the rotating speed of a rotor of the synchronous motor according to signals of a rectifier bridge and a feedback end of the inverter input by the FPGA and signals acquired by the analog signal acquisition unit, generates control signals and transmits the control signals to the FPGA, and the output end of the FPGA selectively sends the control signals of the MCU to a trigger end of the rectifier bridge and a trigger end of the inverter and drives the synchronous motor to automatically change the phase from an intermittent phase to an inverse phase;
the high-voltage side of the step-down transformer is connected with the high-voltage power grid in parallel, the low-voltage side of the step-down transformer is electrically connected with the input end of the rectifier bridge, the output end of the rectifier bridge is electrically connected with the input end of the inverter bridge, the output end of the inverter bridge is electrically connected with the low-voltage side of the step-up transformer, and the high-voltage side of the step-up transformer is connected with the high-voltage power grid; the input end of the analog signal acquisition unit is electrically connected with the low-voltage side of the step-down transformer, the output end of the rectifier bridge and the output end of the inverter bridge respectively, and the output end of the analog signal acquisition unit is electrically connected with the universal input and output end of the MCU; the input end of the zero-crossing detection unit is electrically connected with the low-voltage side of the step-down transformer. The MCU may also communicate with an upper computer. As shown in fig. 1, the feedback signal of the contactor of the soft start device of the present invention connected to the power grid is also input into the FPGA.
The reversing structure by adopting the counter electromotive force of the synchronous motor is simple, but the amplitude of the counter electromotive force is low at low rotating speed, and the light-operated silicon controlled rectifier of the inverter bridge cannot be reliably switched off, so that the intermittent reversing mode is adopted to intervene in the low-speed soft start of the synchronous motor.
As shown in fig. 2, the step-down transformer and the step-up transformer of the present invention are both three-winding transformers, the high-voltage sides of the step-down transformer and the step-up transformer are both delta-connected, and the low-voltage sides of the step-down transformer and the step-up transformer are respectively star-connected and delta-connected; two groups of rectifier bridges and inverter bridges which are arranged in series are connected in parallel between the low-voltage side of the step-down transformer and the low-voltage side of the step-up transformer; the analog signal acquisition unit respectively samples the line voltage at the low-voltage side of the step-down transformer, the bus current at the output end of the rectifier bridge, the line voltage and the phase current output by the inverter bridge, and inputs the sampled voltage or current signals into an AD port of the MCU. As shown in fig. 2, the upper half of the figure can be considered to form a star branch, the lower half of the figure forms a triangle branch, the elements of the star branch and the triangle branch are completely the same, and the star branch and the triangle branch are respectively represented by Y and O. In order to ensure that the bus current at the output end of the rectifier bridge is stable, smoothing reactors Ld are added in the branches, and the bus current flowing through the smoothing reactors Ld is Yidcc and Oidcc.
Specifically, acquiring the line voltage at the low-voltage side of the step-down transformer further acquires YCA, YBC, and YAB voltage signals through the step-down transformer, amplifies the voltage signals by two-stage operational amplifiers shown in fig. 3, and then respectively inputs the signals into the zero-cross detection unit to generate zero-cross pulse signals, i.e., YZLA, YZLB, and YZLC, which are input into the FPGA, and further amplifies the signals to obtain YUab, Yubc, and YUca signals that meet the AD change of the MCU and input into the AD port of the MCU. The voltage signals corresponding to the triangular branch circuits are OAB, OBC and OCA, and the circuit structures thereof are completely the same and are not described herein again.
As shown in fig. 2, the photothyristor of the present invention is a photothyristor. The rectifier bridge and the inverter bridge are formed by three bridge arms formed by six light-controlled thyristors with freewheeling diodes, and the upper bridge arm and the lower bridge arm of each bridge arm are respectively provided with one light-controlled thyristor; voltage signals of a freewheeling diode on the light-controlled silicon controlled rectifier are isolated and output to the input end of the FPGA as rectification feedback signals or inversion feedback signals; and the grid of the light-operated controllable silicon is in signal connection with the output end of the FPGA. The rectifier bridge and inverter can be considered as three parallel bridges A, B and C, the upper half of the a-bridge being denoted AH, the lower half of the a-bridge being denoted AL, and so on, the letter Z denoting the rectifier bridge and the letter N denoting the inverter bridge.
As shown in fig. 4, the illustration shows an amplifying circuit with adjustable different proportions, YUV, YVW and YWU are line voltage sampling signals at the output end of a star-branch inverter bridge from an analog signal acquisition unit, and the proportion of the sampling signals can be selectively amplified according to the magnitude of the back electromotive force of a synchronous motor; because the counter electromotive force is lower under the low rotating speed of the synchronous motor, the amplifying circuit above the graph 4 is selected, the sampling signal can be amplified by about 8 times, and along with the gradual increase of the rotating speed after the synchronous motor is started, under the control of the same I/0 end of the MCU, the relay acts and is simultaneously switched to the amplifying circuit below, and the sampling signal is subjected to voltage following without amplification; line voltage sampling signals YUuv, YUvw and YUwu at the output end of the star-branch inverter bridge are all input into an AD port of the MCU. The sampling circuit structures of the triangular branches are completely the same, and are not described in detail herein. The line voltage sampling signals YUuv, YUvw and YUwu have linear corresponding relation with the line voltage of the synchronous motor, and the linear corresponding relation is the basis for subsequent determination of the rotor position calculation and MCU control signal of the synchronous motor.
As shown in fig. 5, a sampling circuit for obtaining the phase current output by the inverter bridge of the star branch and the triangle branch and the bus current output by the rectifier bridge is shown in the figure; the diagrams H1-H6 are current Hall sensors, YIaa and YIcc are phase currents of an A phase and a C phase output by the star-branch inverter bridge, and sampled phase current signals YIa and YIc obtained by sampling by the Hall current sensors and amplifying by two-stage operational amplifiers are output to the MCU; similarly, the Oiaa and the oic are phase currents of the phase a and the phase C output by the inverter bridge with the triangular branch, and the corresponding adopted current signals are OIa and OIc; the bus current output by the rectifier bridge is respectively Yidcc and Oidcc, and bus current sampling signals YIdc and OIdc output by the rectifier bridge are obtained after sampling.
As shown in fig. 6, the diagram shows the feedback end signal output of the optically controlled thyristors of the rectifier bridge of the star-shaped branch Y and each bridge arm of the inverter; YZFKAH represents the feedback signal of the upper bridge arm of the bridge arm A of the rectifier bridge of the star branch Y, YZFKAL represents the feedback signal of the lower bridge arm of the bridge arm A of the rectifier bridge of the star branch Y, YYNFKAH represents the feedback signal of the upper bridge arm of the bridge arm A of the inverter bridge of the star branch Y, and so on. The signal is indicative of the operating state of the optically controlled thyristor. The circuit structures of the triangular branches are completely the same. U19-U30 are laser receivers, and the voltage signals on the freewheeling diodes can be converted into laser signals through isolation to be received by U19-U30.
As shown in fig. 7, the diagram shows the input signals of the trigger terminals of the photothyristors of the rectifier bridge of the star-shaped branch Y and each bridge arm of the inverter, YZCFAH and YZCFAL represent the trigger signals of the photothyristors of the upper and lower bridge arms of the rectifier bridge of the star-shaped branch Y, YNZCFAH represents the trigger signal of the photothyristors of the upper bridge arm of the inverter bridge of the star-shaped branch Y, and so on. U31-U42 are laser generators.
The specific calculation process for calculating the position of the synchronous motor rotor and the motor rotating speed and generating the control signal comprises the following steps:
taking a star-connected three-phase synchronous motor as an example, the synchronous motor comprises three phases a, b and c, and when an armature is positioned between two phases ab, the relationship between the back electromotive force of the phase ab and the line voltage is as follows: when the armature is at 0 degree, the back electromotive force output by the armature windingabEqual to ab phase line voltage UabAnd the included angle between the armature and the phase a is x; establishing a voltage equation of the three-phase alternating current synchronous motor,
a is the voltage amplitude of the synchronous motor line;ab、bcandcais the back electromotive force between each two phases; x is also the rotor real-time position angle; the motor speed of the soft start process is changed in stages, the motor speed depends on the frequency of the conducting signal of the inverter bridge, and the frequency of the conducting signal of the inverter is related to the frequency of the trigger pulse input to the grid of the light-operated controllable silicon.
As shown in fig. 8 and 9, the starting method of the soft starting device of the high-voltage synchronous motor of the present invention specifically includes the following steps:
s1: given frequency control: when the motor is static, initializing high-voltage synchronous motor soft start equipment, connecting the high-voltage synchronous motor soft start equipment to a high-voltage power grid, exciting the synchronous motor by the high-voltage synchronous motor soft start equipment, and outputting a forward rotating magnetic field of the motor by an inverter bridge according to a voltage frequency given value to enable the synchronous motor to start rotating; the analog signal acquisition unit and the zero-crossing detection unit start sampling, an integral casting time angle alpha is given, and the initial position of a synchronous motor rotor is judged; according to the formula n ', n ' is 60f/p, n ' is the rotating speed of the synchronous motor, f is the frequency, p is the number of pole pairs of the synchronous motor, and the given frequency of the voltage during starting does not exceed 5 Hz; the given frequency determines the upper limit of the rotating speed of the synchronous motor;
s2: intermittent commutation operation: adjusting the given value of the inverter bridge voltage frequency to be 5Hz at the motor rotation speed n'<When the voltage of the synchronous motor is 10% n, adopting forced phase conversion to reduce the current at the output end of the inverter bridge to zero, turning off all the light-controlled thyristors of the inverter bridge, providing a trigger signal to the grid electrode of the light-controlled thyristors of the inverter bridge by the MCU and the FPGA to realize forced intermittent phase conversion, enabling the light-controlled thyristors of the inverter bridge to be conducted, and enabling the light-controlled thyristors of the rectifier bridge to be conducted to recover the output of rectified voltage again, thereby ensuring reliable phase conversion when the synchronous motor operates at low speed; no-load phase change advance angle gamma of photo-controlled silicon controlled rectifier of inverter bridge during intermittent phase change operation0＝0；
S3: naturally switching the phase: when the motor rotating speed n' is 10% n, stopping the forced phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge, and realizing the natural phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge by utilizing the counter electromotive force at the stator side of the synchronous motor;
the phase change lead angle of the photo-controlled silicon controlled rectifier of the inverter bridge is gamma when the inverter bridge is loaded, the phase change overlap angle mu is related to the load of the synchronous motor, and mu is 0 when the bus current is interrupted; advancing angle gamma in no-load commutation when natural commutation is performed by means of inverse electromotive force in no-load condition0The light-operated controlled silicon of the inverter bears reverse voltage within a period of time, so that the light-operated controlled silicon is turned off; when the motor is loaded, the motor is influenced by phase-changing overlap angle mu, the energizing time of the light-operated controlled silicon is prolonged, and the angle representing the time of the light-operated controlled silicon bearing reverse voltage is gamma-mu-gamma0- θ - μ; the residual angle for phase conversion is theta, and theta is the power angle of the synchronous motor; the phase-change residual angle is 15 degrees; during natural commutation, the no-load commutation lead angle gamma of the light-controlled silicon controlled rectifier of the inverter bridge0＝60°；
S4: and (3) natural phase inversion operation: stopping the given frequency control, and gradually changing the inverter bridge voltage frequencyAdjusting the frequency to 50 Hz; introducing current closed-loop control, and respectively acquiring bus currents Yidcc and Oidcc at the output end of the rectifier bridge and currents Yiaa, YIcc, Oiaa and Oicc output by the inverter bridge through an analog signal acquisition unit; the bus current at the output end of the rectifier bridge is used as the input of a current closed loop, the current output by the inverter bridge is used as the feedback input, the bus current at the output end of the rectifier bridge is adjusted by changing the rectification delay angle alpha of the light-operated controlled silicon of the rectifier bridge, and then the speed-adjusting operation of the synchronous motor is realized, wherein n in the graph 8*Given value of rotational speed, I*d is the busbar current given value, and Id current closed loop's feedback input, ASR is the speed regulation unit, and ACR is the current regulation unit:
wherein U isdU can be adjusted by changing the rectification delay angle alpha of the light-operated controlled silicon of the rectifier bridge for the average value of the input voltage of the inverter bridgedThe magnitude of the voltage of the rectifier bridge and the magnitude of the bus current at the output end of the rectifier bridge; c. CeIs an electromotive constant; phi is magnetic flux;
in the speed regulation process, the calculation of the position of the synchronous motor rotor is continuously kept; introducing a rotating speed closed loop to adjust the rotating speed, wherein the given speed value of the rotating speed loop is preset; the voltage frequency of the synchronous motor terminal fluctuates, and the voltage frequency of the synchronous motor terminal is obtained according to the output voltage frequency of the step-up transformer; generating an additional rotating speed fine tuning signal n according to the difference value of the voltage of the power grid and the voltage frequency of the synchronous motor terminal and the actual rotating speed of the synchronous motor, wherein the rotating speed fine tuning signal is added to the input end of the current loop after PID operation, and the input of the current loop is adjusted; the synchronous motor in the state is accelerated until the rotating speed of the synchronous motor reaches 95% of the rated rotating speed; the MCU outputs corresponding signals to the FPGA according to the judgment result of the rotating speed;
s5: synchronization grid connection: when the rotating speed of the synchronous motor reaches 95% of the rated rotating speed, the synchronous motor starts to carry out synchronization, excitation is adjusted, and when the synchronous motor back electromotive force amplitude and the grid voltage amplitude are not more than 300V, the synchronous motor back electromotive force phase and the grid voltage phase are within 4 degrees and the synchronous motor rotating speed deviation is within 10 revolutions per minute, the synchronous motor is connected to the grid and is connected to a high-voltage grid; the synchronization grid connection can be realized by adopting equipment such as synchronization grid connection equipment SYN5000 series of ABB company, and the starting of the grid connection equipment is realized by sending a control signal by an MCU (microprogrammed control Unit);
s6: power frequency operation: the motor enters a power frequency running state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A kind of high-pressure synchronous machine soft starting equipment, characterized by that: the system comprises a step-down transformer, a step-up transformer, a plurality of rectifier bridges, a plurality of inverter bridges, an analog signal acquisition unit, a zero-crossing detection unit, an FPGA and an MCU; the high-voltage side of the step-down transformer is connected with the high-voltage power grid in parallel, the low-voltage side of the step-down transformer is electrically connected with the input end of the rectifier bridge, the output end of the rectifier bridge is electrically connected with the input end of the inverter bridge, the output end of the inverter bridge is electrically connected with the low-voltage side of the step-up transformer, and the high-voltage side of the step-up transformer is connected with the high-voltage power grid; the input end of the analog signal acquisition unit is electrically connected with the low-voltage side of the step-down transformer, the output end of the rectifier bridge and the output end of the inverter bridge respectively, and the output end of the analog signal acquisition unit is electrically connected with the universal input and output end of the MCU; the input end of the zero-crossing detection unit is electrically connected with the low-voltage side of the step-down transformer, and the output end of the zero-crossing detection unit is electrically connected with the input end of the FPGA; the input end of the FPGA is also electrically connected with the feedback ends of the rectifier bridge and the inverter bridge, and the output end of the FPGA is electrically connected with the trigger ends of the rectifier bridge and the inverter bridge; the FPGA is also in communication connection with the MCU;
the step-down transformer is used for reducing the voltage of the high-voltage power grid and then taking the reduced voltage as the input voltage of the rectifier bridge;
the rectifier bridge rectifies the input voltage and outputs direct-current voltage;
the inverter bridge inverts the input direct-current voltage into an alternating-current signal and transmits the alternating-current signal to the low-voltage end of the booster transformer;
the step-up transformer selectively outputs the boosted voltage input by the inverter bridge to a high-voltage power grid as a starting signal of the synchronous motor;
the analog signal acquisition unit respectively acquires a voltage signal at the low-voltage side of the step-down transformer, an output current signal of the rectifier bridge and an output voltage signal of the inverter and transmits the acquired signals to the MCU;
the MCU calculates the position and the rotating speed of the rotor of the synchronous motor according to signals of a rectifier bridge and an inverter input by the FPGA and signals collected by the analog signal collecting unit, generates control signals and sends the control signals to the FPGA, and the output end of the FPGA selectively sends the control signals of the MCU to a trigger end of the rectifier bridge and a trigger end of the inverter and drives the synchronous motor to be switched from intermittent switching to automatic switching.
2. A soft starting apparatus for a high voltage synchronous motor as recited in claim 1, wherein: the step-down transformer and the step-up transformer are both three-winding transformers, the high-voltage sides of the step-down transformer and the step-up transformer are both in a delta connection method, and the low-voltage sides of the step-down transformer and the step-up transformer are in star connection and delta connection respectively; two groups of rectifier bridges and inverter bridges which are arranged in series are connected in parallel between the low-voltage side of the step-down transformer and the low-voltage side of the step-up transformer; the analog signal acquisition unit respectively samples the line voltage at the low-voltage side of the step-down transformer, the bus current at the output end of the rectifier bridge, the line voltage and the phase current output by the inverter bridge, and inputs the sampled voltage or current signals into an AD port of the MCU.
3. A soft starting apparatus for a high voltage synchronous motor as recited in claim 2, wherein: the rectifier bridge and the inverter bridge are formed by three bridge arms formed by six light-operated thyristors with freewheeling diodes, and an upper bridge arm and a lower bridge arm of each bridge arm are respectively provided with one light-operated thyristor; voltage signals of a freewheeling diode on the light-controlled silicon controlled rectifier are isolated and output to the input end of the FPGA as rectification feedback signals or inversion feedback signals; and the grid of the light-operated controllable silicon is in signal connection with the output end of the FPGA.
4. A soft starting apparatus for a high voltage synchronous motor as recited in claim 3, wherein: the zero-crossing detection unit detects the line voltage of the low-voltage side of the step-down transformer, converts a line voltage signal into a zero-crossing detection signal and outputs the zero-crossing detection signal to the input end of the FPGA.
5. A soft starting apparatus for a high voltage synchronous motor as recited in claim 4, wherein: the specific calculation process for calculating the position of the synchronous motor rotor and the motor rotating speed and generating the control signal comprises the following steps:
taking a star-connected three-phase synchronous motor as an example, the synchronous motor comprises three phases a, b and c, and when an armature is positioned between two phases ab, the relationship between the back electromotive force of the phase ab and the line voltage is as follows: when the armature is at 0 degree, the back electromotive force output by the armature windingabEqual to ab phase line voltage UabAnd the included angle between the armature and the phase a is x; establishing a voltage equation of the three-phase alternating current synchronous motor,
a is the line voltage amplitude;ab、bcandcais the back electromotive force between each two phases; x is also the rotor real-time position angle;
the motor speed during soft start is varied in stages, the motor speed being dependent on the frequency of the inverter bridge conduction signal.
6. A starting method of a soft starting device of a high-voltage synchronous motor is characterized by comprising the following steps: the method comprises the following steps:
s1: given frequency control: when the motor is static, initializing high-voltage synchronous motor soft start equipment, connecting the high-voltage synchronous motor soft start equipment to a high-voltage power grid, exciting the synchronous motor by the high-voltage synchronous motor soft start equipment, and outputting a forward rotating magnetic field of the motor by an inverter bridge according to a voltage frequency given value to enable the synchronous motor to start rotating; the analog signal acquisition unit and the zero-crossing detection unit start sampling, an integral casting time angle alpha is given, and the initial position of a synchronous motor rotor is judged; according to the formula n '60 f/p, n' is the rotating speed of the synchronous motor, f is the frequency, p is the number of pole pairs of the synchronous motor, n is the rated rotating speed, and the given frequency of the voltage during starting does not exceed 5 Hz; the given frequency determines the upper limit of the rotating speed of the synchronous motor;
s2: intermittent commutation operation: adjusting the given value of the inverter bridge voltage frequency to be 5Hz at the motor rotation speed n'<When the voltage of the synchronous motor is 10% n, adopting forced phase conversion to reduce the current at the output end of the inverter bridge to zero, turning off all the light-controlled thyristors of the inverter bridge, providing a trigger signal to the grid electrode of the light-controlled thyristors of the inverter bridge by the MCU and the FPGA to realize forced intermittent phase conversion, enabling the light-controlled thyristors of the inverter bridge to be conducted, and enabling the light-controlled thyristors of the rectifier bridge to be conducted to recover the output of rectified voltage again, thereby ensuring reliable phase conversion when the synchronous motor operates at low speed; no-load phase change advance angle gamma of photo-controlled silicon controlled rectifier of inverter bridge during intermittent phase change operation0＝0；
S3: naturally switching the phase: when the motor rotating speed n' is 10% n, stopping the forced phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge, and realizing the natural phase commutation of the photo-controlled silicon controlled rectifier of the inverter bridge by utilizing the counter electromotive force at the stator side of the synchronous motor;
the phase change lead angle of the photo-controlled silicon controlled rectifier of the inverter bridge is gamma when the inverter bridge is loaded, the phase change overlap angle mu is related to the load of the synchronous motor, and mu is 0 when the bus current is interrupted; advancing angle gamma in no-load commutation when natural commutation is performed by means of inverse electromotive force in no-load condition0The light-operated controlled silicon of the inverter bears reverse voltage within a period of time, so that the light-operated controlled silicon is turned off; when the motor is loaded, the motor is influenced by phase-changing overlap angle mu, the energizing time of the light-operated controlled silicon is prolonged, and the angle representing the time of the light-operated controlled silicon bearing reverse voltage is gamma-mu-gamma0- θ - μ; the residual angle for phase conversion is theta, and theta is the power angle of the synchronous motor; the phase-change residual angle is 15 degrees; during natural commutation, the no-load commutation lead angle gamma of the light-controlled silicon controlled rectifier of the inverter bridge0＝60°；
S4: and (3) natural phase inversion operation: stopping given frequency control, and gradually adjusting the inverter bridge voltage frequency to 50Hz of power frequency; introducing current closed-loop control, and respectively acquiring bus currents Yidcc and Oidcc at the output end of the rectifier bridge and currents Yiaa, YIcc, Oiaa and Oicc output by the inverter bridge through an analog signal acquisition unit; the bus current of rectifier bridge output end is as the input of current closed loop, and the electric current of inverter bridge output is as feedback input, and the bus current of rectifier bridge output end is adjusted through the rectification delay angle alpha that changes the light-operated controlled silicon of rectifier bridge, and then realizes synchronous machine's speed governing operation:
wherein U isdU can be adjusted by changing the rectification delay angle alpha of the light-operated controlled silicon of the rectifier bridge for the average value of the input voltage of the inverter bridgedThe magnitude of the voltage of the rectifier bridge and the magnitude of the bus current at the output end of the rectifier bridge; c. CeIs an electromotive constant; phi is magnetic flux;
in the speed regulation process, the calculation of the position of the synchronous motor rotor is continuously kept; introducing a rotating speed closed loop to adjust the rotating speed, wherein the given speed value of the rotating speed loop is preset; the voltage frequency of the synchronous motor terminal fluctuates, and the voltage frequency of the synchronous motor terminal is obtained according to the output voltage frequency of the step-up transformer; generating an additional rotating speed fine tuning signal according to the difference value of the voltage of the power grid and the voltage frequency of the synchronous motor terminal and the actual rotating speed of the synchronous motor, wherein the rotating speed fine tuning signal is added to the input end of the current loop after PID operation, and the input of the current loop is adjusted; the synchronous motor in the state is accelerated until the rotating speed of the synchronous motor reaches 95% of the rated rotating speed;
s5: synchronization grid connection: when the rotating speed of the synchronous motor reaches 95% of the rated rotating speed, the synchronous motor starts to carry out synchronization, excitation is adjusted, and when the synchronous motor back electromotive force amplitude and the grid voltage amplitude are not more than 300V, the synchronous motor back electromotive force phase and the grid voltage phase are within 4 degrees and the synchronous motor rotating speed deviation is within 10 revolutions per minute, the synchronous motor is connected to the grid and is connected to a high-voltage grid;
s6: power frequency operation: the motor enters a power frequency running state.
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