CN112653357B - Control method and device for self-starting synchronous motor, storage medium and processor - Google Patents
Control method and device for self-starting synchronous motor, storage medium and processor Download PDFInfo
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- CN112653357B CN112653357B CN202011504032.7A CN202011504032A CN112653357B CN 112653357 B CN112653357 B CN 112653357B CN 202011504032 A CN202011504032 A CN 202011504032A CN 112653357 B CN112653357 B CN 112653357B
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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
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Abstract
The invention discloses a control method and device for a self-starting synchronous motor, a storage medium and a processor. Wherein, the method comprises the following steps: the method comprises the following steps: acquiring a first conversion value corresponding to an operation parameter of a self-starting synchronous motor; acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor; adjusting a preset control parameter of the self-starting synchronous motor according to a first conversion value and a second conversion value, wherein the first conversion value, the second conversion value and the preset control parameter have the same parameter type, and the parameter types comprise: voltage frequency and/or voltage amplitude. The invention solves the problem of low overload capacity of the self-starting synchronous motor.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and device of a self-starting synchronous motor, a storage medium and a processor.
Background
In the prior art, the self-starting synchronous motor combines the advantages of an asynchronous motor on the basis of a synchronous motor, and the self-starting is realized through asynchronous torque generated by a conducting bar. Compared with a synchronous motor, the starting process of the self-starting synchronous motor does not need to be controlled by a complex frequency converter, and the self-starting synchronous motor has remarkable advantages. However, the self-starting synchronous motor is started and operated by a constant frequency and constant amplitude voltage source, and can only operate at a fixed rotating speed, and the overload capacity of the motor is limited.
In view of the above-mentioned problem of low overload capability of the self-starting synchronous motor in the prior art, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a self-starting synchronous motor, a storage medium and a processor, which at least solve the technical problem of low overload capacity of the self-starting synchronous motor in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a control method of a self-starting synchronous motor, including: acquiring a first conversion value corresponding to an operation parameter of a self-starting synchronous motor; acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor; adjusting a preset control parameter of the self-starting synchronous motor according to a first conversion value and a second conversion value, wherein the first conversion value, the second conversion value and the preset control parameter have the same parameter type, and the parameter types comprise: voltage frequency and/or voltage amplitude.
Further, the operation parameter is a rotation speed, the parameter type of the first conversion value is a voltage frequency, and the obtaining of the first conversion value corresponding to the operation parameter of the self-starting synchronous motor includes: collecting the rotating speed of a self-starting synchronous motor; acquiring a motor pole pair number and a preset constant of a self-starting synchronous motor; and determining the voltage frequency corresponding to the rotating speed according to the rotating speed, the number of pole pairs of the motor and a preset constant.
Further, acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor includes: acquiring a target control parameter, wherein the target control parameter is a rotating speed parameter; and converting the target control parameter into voltage frequency to obtain a second conversion value.
Further, the operation parameters are rotating speed and torque, the parameter type of the first conversion value is voltage amplitude, and the obtaining of the first conversion value corresponding to the operation parameters of the self-starting synchronous motor includes: collecting the rotating speed and the torque of a self-starting synchronous motor; and converting the torque into a voltage amplitude according to the rotating speed to obtain a first conversion value.
Further, acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor includes: acquiring a target control parameter, wherein the target control parameter is a torque parameter corresponding to a rotating speed; and converting the target control parameter into a voltage amplitude according to the rotating speed to obtain a second conversion value.
Further, adjusting the preset control parameter of the self-starting synchronous motor according to the first conversion value and the second conversion value comprises: if the second conversion value is greater than the first conversion value, increasing the operating voltage of the self-starting synchronous motor; and if the second conversion value is smaller than the first conversion value, reducing the running voltage of the self-starting synchronous motor.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a self-starting synchronous motor, including: the detection module is used for acquiring the operation parameters of the self-starting synchronous motor; the feedback module is used for acquiring a first conversion value corresponding to the operation parameter of the self-starting synchronous motor; the given value determining module is used for acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor; the adjusting module is used for adjusting a preset control parameter of the self-starting synchronous motor according to a first conversion value and a second conversion value, wherein the first conversion value, the second conversion value and the preset control parameter have the same parameter type, and the parameter types comprise: voltage frequency and/or voltage amplitude.
Further, if the operation parameter is a rotating speed, the detection module comprises a rotating speed detection module for acquiring the rotating speed of the self-starting synchronous motor; the feedback module comprises a rotating speed feedback module and is used for acquiring a first voltage frequency corresponding to the rotating speed of the self-starting synchronous motor; the given value determining module comprises a rotating speed given value determining module and is used for acquiring a second voltage frequency corresponding to a target control parameter, wherein the target control parameter is a rotating speed parameter; the adjusting module comprises a voltage frequency adjusting module and is used for adjusting preset control parameters of the self-starting synchronous motor according to the first voltage frequency and the second voltage frequency, wherein the preset control parameters are voltage frequencies.
Furthermore, the operation parameters are rotating speed and torque, and the detection module comprises a rotating speed detection module and a torque detection module which are respectively used for collecting the rotating speed and the torque of the self-starting synchronous motor; the feedback module comprises a rotating speed feedback module and a torque feedback module and is used for converting the torque into a first voltage amplitude according to the rotating speed; the set value determining module comprises a torque set value determining module and a second voltage amplitude value acquiring module, wherein the second voltage amplitude value is corresponding to a target control parameter, and the target control parameter is a torque parameter; the adjusting module comprises a voltage amplitude adjusting module and is used for adjusting preset control parameters of the self-starting synchronous motor according to the first voltage amplitude and the second voltage amplitude, wherein the preset control parameters are voltage amplitudes.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including: comprises a stored program, wherein when the program runs, the device on which the storage medium is positioned is controlled to execute the control method of the self-starting synchronous motor.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program executes the control method for self-starting a synchronous motor.
In the embodiment of the invention, the voltage frequency and the voltage amplitude parameter input by the power supply of the self-starting synchronous motor are adjusted, so that the adjustment of the rotating speed of the self-starting synchronous motor and the control of the overload capacity of the self-starting synchronous motor at different rotating speeds are realized, the load carrying capacity of the self-starting synchronous motor is improved, and the technical problem of low overload capacity of the self-starting synchronous motor is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of a self-starting synchronous machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative control arrangement for a self-starting synchronous machine according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative method of controlling a self-starting synchronous machine according to an embodiment of the present invention;
FIG. 4 is a graph of the relationship of the rotation speed-voltage-load of the motor obtained by the control method of the self-starting synchronous motor according to the present invention;
fig. 5 is a schematic diagram of a control apparatus for a self-starting synchronous motor according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for controlling a self-starting synchronous machine, wherein the steps illustrated in the flowchart of the figure may be carried out in a computer system, such as a set of computer-executable instructions, and wherein, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be carried out in an order different than presented herein.
Fig. 1 is a control method of a self-starting synchronous machine according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S101, acquiring a first conversion value corresponding to an operation parameter of a self-starting synchronous motor;
step S102, acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor;
step S103, adjusting a preset control parameter of the self-starting synchronous motor according to the first conversion value and the second conversion value, where the first conversion value, the second conversion value, and the preset control parameter have the same parameter type, and the parameter types include: voltage frequency and/or voltage amplitude.
The self-starting synchronous motor includes, but is not limited to, a self-starting permanent magnet synchronous motor, a self-starting permanent magnet auxiliary synchronous reluctance motor, a self-starting synchronous reluctance motor, and other motors which are operated synchronously by realizing self-starting through asynchronous torque.
In the above step S101, the operation parameter of the self-starting synchronous motor is the rotation speed or torque of the self-starting synchronous motor in the current operation, and the target control parameter in the step S102 is the required desired rotation speed or torque (optionally, the target control parameter is input by an operator according to needs), so as to adjust the rotation speed or torque of the self-starting synchronous motor to the desired value, the operation parameter can be implemented by changing the frequency and amplitude of the voltage input by the self-starting synchronous motor. Specifically, since the rotating speed of the self-starting synchronous motor is related to the input voltage frequency, and the input voltage amplitude of the self-starting synchronous motor is related to the load capacity and the rotating speed of the motor, the rotating speed of the self-starting synchronous motor can be changed by adjusting the input voltage frequency, and the load capacity of the self-starting synchronous motor at different rotating speeds can be adjusted by adjusting the input voltage amplitude. The aforementioned adjustment process may be implemented by an adjustment module comprising a controller.
The first conversion value is a recognizable quantity of the regulating module obtained by converting an operation parameter of the self-starting synchronous motor (such as the rotating speed of the self-starting synchronous motor in the current operation), the second conversion value is a recognizable quantity of the regulating module obtained by converting a target control parameter of the self-starting synchronous motor (such as a required expected rotating speed), and the preset control parameter is a control parameter corresponding to the operation parameter of the current self-starting synchronous motor (such as a voltage frequency corresponding to the current rotating speed of the self-starting synchronous motor).
Because the controller of the adjusting module can only perform operation control on the same type of parameters, the operating parameters need to be converted into the parameters with the same type of the preset control parameters according to the relationship between the operating parameters and the preset control parameters, and the parameters can be recognized by the adjusting module and correspondingly controlled. For example, if the adjusting module needs to adjust the current operating rotational speed of the self-starting synchronous motor to the desired rotational speed, the current operating rotational speed needs to be converted into a corresponding first voltage frequency value (i.e., a first conversion value), the desired rotational speed needs to be converted into a corresponding second voltage frequency value (i.e., a second conversion value), and the input voltage frequency (i.e., a preset control parameter) of the self-starting synchronous motor is correspondingly adjusted according to the difference between the first voltage frequency value and the second voltage frequency value, so as to achieve the desired rotational speed adjustment. Therefore, the first and second transformed values are the same as the preset control parameter, such as voltage frequency.
The first conversion value and the second conversion value are processed by a regulator, and then enter the regulating module, where the regulator may be a PID (Proportional-Integral-Derivative) regulator, a PI (Proportional-Integral) regulator, or another regulator that can be controlled by a difference value.
Through the steps, the voltage frequency and the voltage amplitude parameter input by the power supply of the self-starting synchronous motor are adjusted, so that the adjustment of the rotating speed of the self-starting synchronous motor and the overload capacity control of the self-starting synchronous motor at different rotating speeds are realized, the load carrying capacity of the self-starting synchronous motor is improved, and the technical problem of low overload capacity of the self-starting synchronous motor is solved.
Optionally, the obtaining of the first conversion value corresponding to the operation parameter of the self-starting synchronous motor includes: collecting the rotating speed of a self-starting synchronous motor; acquiring a motor pole pair number and a preset constant of a self-starting synchronous motor; and determining the voltage frequency corresponding to the rotating speed according to the rotating speed, the number of pole pairs of the motor and a preset constant.
If the operation parameter of the self-starting synchronous motor is the rotating speed of the current self-starting synchronous motor and the parameter type of the corresponding first conversion value is frequency, a frequency value needs to be calculated according to the corresponding relation between the rotating speed and the frequency,
optionally, obtaining a second conversion value corresponding to a target control parameter of the self-starting synchronous motor includes: acquiring the target control parameter, wherein the target control parameter is a rotating speed parameter; and converting the target control parameter into voltage frequency to obtain the second conversion value.
If the target control parameter of the self-starting synchronous motor is the required expected rotating speed, a frequency value (namely a second conversion value) corresponding to the required expected rotating speed needs to be calculated according to the corresponding relation between the rotating speed and the frequency.
Specifically, the relation formula of the rotating speed and the frequency of the self-starting synchronous motor is as follows:
f＝np/x
wherein f is the voltage frequency corresponding to the rotating speed, n is the collected rotating speed of the self-starting synchronous motor, p is the number of pole pairs of the motor, and x is a preset constant. Optionally, x is 60. The rotation speed of the self-starting synchronous motor can be converted into frequency according to the formula, namely a first conversion value corresponding to the rotation speed of the current self-starting synchronous motor and a second conversion value corresponding to the required expected rotation speed are calculated and obtained.
Through the steps, according to the relation between the rotating speed of the self-starting synchronous motor and the input voltage frequency, the current rotating speed and the target rotating speed of the self-starting synchronous motor are converted into the voltage frequency which can be identified by the adjusting module, the input voltage frequency of the self-starting synchronous motor is adjusted through a set control algorithm, the rotating speed of the self-starting synchronous motor is adjusted, and the problem that the self-starting synchronous motor can only synchronously run at a fixed rotating speed is solved.
Optionally, the above operation parameters are a rotation speed and a torque, the parameter type of the first conversion value is a voltage amplitude, and the obtaining of the first conversion value corresponding to the operation parameter of the self-starting synchronous motor includes: collecting the rotating speed and the torque of a self-starting synchronous motor; and converting the torque into a voltage amplitude according to the rotating speed to obtain the first conversion value.
The amplitude of the input voltage of the self-starting synchronous motor changes along with the changes of the load (namely the load carried by the self-starting synchronous motor) and the rotating speed of the self-starting synchronous motor, so that the amplitude of the input voltage of the self-starting synchronous motor is adjusted, and the load carrying capacity of the self-starting synchronous motor at different rotating speeds can be adjusted. The load capacity of the self-starting synchronous motor is determined by a torque parameter during operation of the self-starting synchronous motor, the amplitude of the input voltage of the self-starting synchronous motor is related to the rotating speed and the torque of the self-starting synchronous motor, and specifically, the conversion calculation formula of the amplitude of the input voltage of the self-starting synchronous motor, the rotating speed and the torque is as follows:
u is an effective value of an input phase voltage of the self-starting synchronous motor, and takes a value of "+" or "-" according to the type of the self-starting synchronous motor, for example, "-" is taken for the self-starting permanent magnet motor, the self-starting permanent magnet auxiliary synchronous reluctance motor and other self-starting synchronous motors having a permanent magnet torque during synchronous operation, and "+" is taken for the self-starting reluctance motor and other self-starting synchronous motors having only a reluctance torque during synchronous operation. T is the torque value of the current operation obtained by collection, X d 、X q Is the quadrature-direct axis inductance value, ω is the electrical angular velocity, θ is the torque angle, E 0 Effective value of no-load back-emf, optionally, for self-starting reluctance machines, E 0 A value of 0; m is the number of motor phases; p is the number of pole pairs of the motor.
According to the formula, the collected current running rotating speed and torque of the self-starting synchronous motor can be calculated and converted into corresponding voltage parameters.
Optionally, obtaining a second conversion value corresponding to a target control parameter of the self-starting synchronous motor includes: acquiring a target control parameter, wherein the target control parameter is a torque parameter corresponding to a rotating speed; and converting the target control parameter into a voltage amplitude according to the rotating speed to obtain a second conversion value.
The torque parameter as the target control parameter may be selected by an operator according to an adjustment requirement, for example, according to a required load value, the operator may obtain a required output torque T of the self-starting synchronous motor when the rotation speed is n, and obtain a voltage amplitude (i.e., a second conversion value) corresponding to the output torque T of the self-starting synchronous motor when the rotation speed is n according to the calculation formula of the voltage amplitude U, the rotation speed n, and the torque T.
Optionally, adjusting a preset control parameter of the self-starting synchronous motor according to the first conversion value and the second conversion value includes: if the second conversion value is larger than the first conversion value, increasing the running voltage of the self-starting synchronous motor; and if the second conversion value is smaller than the first conversion value, reducing the running voltage of the self-starting synchronous motor.
The operating voltage of the self-starting synchronous motor includes a voltage frequency and a voltage amplitude. If the second conversion value is larger than the first conversion value and the required control parameter is larger than the current operation parameter, correspondingly increasing the operation voltage according to the parameter type; and if the second conversion value is smaller than the first conversion value, and the required control parameter is smaller than the current operating parameter, correspondingly reducing the operating voltage according to the parameter type. For example, if the required speed of the self-starting synchronous motor is greater than the currently operating speed, the input voltage frequency of the self-starting synchronous motor is increased by the adjustment module according to the relationship between the speed and the input voltage frequency.
Through the steps, the torque of the self-starting synchronous motor at the set rotating speed and the required expected torque can be converted into voltage amplitude parameters which can be identified by the adjusting module according to the relation among the rotating speed, the torque and the input voltage amplitude of the self-starting synchronous motor, the load carrying capacity of the self-starting synchronous motor at different rotating speeds can be adjusted through adjusting the input voltage amplitude of the self-starting synchronous motor by the set control algorithm, and the problem of low overload capacity of the self-starting synchronous motor is solved.
It should be noted that, in the implementation steps of the control method of the self-starting synchronous motor, the closed-loop control of the rotating speed and the closed-loop control of the loading capacity are not sequentially limited, and the control can be carried out simultaneously.
Fig. 2 is a schematic diagram of an implementation system of a control method for a self-starting synchronous motor, which is optional for the embodiment of the present invention, and includes a self-starting synchronous motor 20, a rotation speed detection module 21, a torque detection module 22, a voltage frequency modulation module 23, a voltage amplitude modulation module 24, a torque feedback module 25, a rotation speed feedback module 26, a rotation speed feedback module 27, a rotation speed set point determination module 28, and a torque set point determination module 29. The direction of the arrow in fig. 2 indicates the direction of transmission of the signal. The self-starting synchronous motor 20, the rotating speed detection module 21, the voltage frequency modulation module 23, the rotating speed feedback module 26 and the rotating speed given value determination module 28 form a rotating speed closed-loop control part of the self-starting synchronous motor; the self-starting synchronous motor 20, the rotating speed detection module 21, the torque detection module 22, the voltage amplitude modulation module 24, the torque feedback module 25, the rotating speed feedback module 27 and the torque set value module 29 form a load capacity closed-loop control part of the self-starting synchronous motor.
The self-starting synchronous motor 20 is a controlled part and is connected with a rotating speed detection module 21 and a torque detection module 22, the rotating speed detection module 21 and the torque detection module 22 respectively detect a rotating speed signal and a torque signal of the self-starting synchronous motor 20, meanwhile, the self-starting synchronous motor 20 receives signal input of a voltage frequency modulation module 23 and a voltage amplitude modulation module 24, the rotating speed value of the self-starting synchronous motor is controlled by the voltage frequency modulation module 23, and the torque value of the self-starting synchronous motor is controlled by the voltage amplitude modulation module 24.
The rotation speed feedback module 26 is a middle conversion module between the rotation speed detection module 21 and the voltage frequency modulation module 23, and converts the rotation speed value detected by the rotation speed detection module 21 into a frequency value recognizable by the voltage frequency modulation module 23; the rotation speed feedback module 27 and the torque feedback module 25 are intermediate conversion modules of the rotation speed detection module 21, the torque detection module 22 and the voltage amplitude modulation module 24, and convert the detected rotation speed value and the detected torque value into voltage amplitude values recognizable by the voltage amplitude modulation module 24.
The voltage frequency adjustment module (i.e., the voltage frequency modulation module 23) and the voltage amplitude adjustment module (i.e., the voltage amplitude modulation module 24) are the main parts of the self-starting synchronous motor control. The voltage frequency modulation module 23 receives the rotation speed value signal of the self-starting synchronous motor fed back by the rotation speed feedback module 26 and the frequency signal converted and input by the rotation speed given value determination module 28, the two signals pass through the PID regulator to determine the output voltage frequency signal of the voltage frequency modulation module 23, and the output voltage frequency signal enters the self-starting synchronous motor to perform rotation speed control of the motor. The voltage amplitude modulation module 24 receives a torque value signal fed back by the torque feedback module 22, a motor rotating speed value signal fed back by the rotating speed feedback module 27 and a voltage value signal converted and input by the torque set value determining module 29, the torque value signal, the rotating speed value signal and the voltage value signal pass through a PID regulator and then determine an output voltage amplitude signal of the voltage amplitude modulation module 24, and the voltage amplitude signal enters the self-starting synchronous motor module to perform torque control on the motor.
The input to the speed set point determination module 28 is determined based on the desired speed and the input to the torque set point determination module 29 is determined based on the desired torque. If the required output rotating speed of the motor is n, the input frequency value of the rotating speed set value determining module 28 connected with the voltage frequency modulation module 23 is f, f = np/60, n is the rotating speed required to be output by the motor, and p is the number of pole pairs of the motor. If the motor is required to output the torque T at the rotating speed n, the input voltage value of the torque set value determining module 29 connected with the voltage amplitude modulation module 24 is equal to
Wherein, U is the effective value of the input phase voltage of the self-starting synchronous motor, and takes a value of "+" or "-" according to the type of the self-starting synchronous motor. T is the torque value of the current operation obtained by collection, X d 、X q Is the quadrature-direct axis inductance value, ω is the electrical angular velocity, θ is the torque angle, E 0 Effective value of no-load back-emf, optionally for self-starting reluctance machines, E 0 A value of 0; m is the number of motor phases; p is the number of pole pairs of the motor.
Fig. 3 is a flow chart of an alternative control method for a self-starting synchronous machine according to an embodiment of the invention. The control method of the self-starting synchronous motor comprises the following steps:
and S301, the voltage frequency modulation module regulates the voltage frequency of the input end of the motor according to feedback signals of the given value determination module and the rotating speed detection module, so that the rotating speed of the self-starting synchronous motor is controlled.
The input signal of the set value determining module and the feedback signal of the rotating speed feedback module enter a voltage frequency modulation device through a PID regulator, the voltage frequency modulation device outputs required expected frequency to control the rotating speed of the self-starting synchronous motor, and further, if the input rotating speed signal of the set value determining module is greater than the feedback signal of the rotating speed feedback module, the voltage frequency modulation device performs frequency increasing action, and the rotating speed of the motor rises; if the input signal of the given value determining module is smaller than the feedback signal of the rotating speed feedback module, the voltage frequency modulation device performs frequency reduction action, and the rotating speed of the motor is reduced. After the required rotation speed is reached, the process proceeds to step S302.
And step S302, the voltage amplitude modulation module adjusts the voltage amplitude of the input end of the motor according to the feedback signal of the motor rotating speed detection module, the feedback signal of the torque detection module and the signal of the given value determination module, so that the load capacity of the self-starting synchronous motor at different rotating speeds is controlled.
And (3) a rotating speed signal obtained by controlling the rotating speed of the self-starting synchronous motor in the step (S301), a torque signal fed back by the torque detection module and an input rotating speed and torque signal of the given value determination module enter the voltage amplitude modulation module after passing through the PID regulator, and the voltage amplitude modulation module outputs a required voltage amplitude value to control the loading capacity of the self-starting synchronous motor. At a certain rotating speed, if an input torque signal of the given value determining module is greater than a feedback signal of the torque detecting module, the voltage amplitude modulation module performs amplitude increasing action, and the carrying capacity of the motor is enhanced; if the input signal of the given value determination module is smaller than the feedback signal of the torque detection module, the voltage amplitude modulation module performs amplitude reduction action, and the loading capacity of the motor is reduced. Furthermore, the voltage amplitude adjusting module is internally provided with an amplitude limiter, the maximum adjustable range of the voltage amplitude is 600V, and the value can be adjusted by considering the withstand voltage of a self-starting synchronous motor winding and the maximum bearing voltage of hardware used by a control circuit. The input voltage of the motor is determined according to the rotating speed and the torque of the self-starting synchronous motor, so that the self-starting synchronous motor can be ensured to have required load running capacity, and the input voltage of the self-starting synchronous motor can be utilized to the maximum.
Fig. 4 is a graph showing a rotation speed-voltage-load relationship of a motor obtained according to the control method of a self-starting synchronous motor of the present invention, with the abscissa representing the torque of the self-starting synchronous motor and the ordinate representing the input voltage amplitude of the self-starting synchronous motor. As shown in fig. 4, the torque of the self-starting synchronous motor increases correspondingly with the increase of the input voltage amplitude under different rotating speeds, so that the load carrying capacity of the self-starting synchronous motor is improved.
Example 2
According to an embodiment of the present invention, there is provided an embodiment of a control apparatus for a self-starting synchronous motor, as shown in fig. 5, including: the detection module 51 is used for acquiring the operation parameters of the self-starting synchronous motor 50; a feedback module 52 for acquiring a first conversion value corresponding to an operation parameter of the self-starting synchronous motor 50; a given value determination module 53 for acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor 50; an adjusting module 54, configured to adjust a preset control parameter of the self-starting synchronous motor 50 according to a first conversion value and a second conversion value, where the first conversion value, the second conversion value, and the preset control parameter have the same parameter type, and the parameter types include: voltage frequency and/or voltage amplitude.
The feedback module 52 acts as an intermediate conversion module between the detection module 51 and the adjustment module 54, converting the output value of the detection module into a recognizable quantity for the adjustment module 54. Optionally, the feedback module 52 has an input of the sensed speed and/or torque and an output of a first converted value (e.g., a voltage frequency value and/or a voltage amplitude value). The input value (i.e., the second converted value) of the set-point determination module 53 is determined according to the required rotational speed and torque, and its output signal is fed to the regulation module via the PID regulator.
Optionally, if the operation parameter is a rotation speed, the detection module includes a rotation speed detection module, which is configured to collect a rotation speed of the self-starting synchronous motor; the feedback module comprises a rotating speed feedback module and is used for acquiring a first voltage frequency corresponding to the rotating speed of the self-starting synchronous motor; the given value determining module comprises a rotating speed given value determining module and is used for acquiring a second voltage frequency corresponding to a target control parameter, wherein the target control parameter is a rotating speed parameter; the adjusting module comprises a voltage frequency adjusting module and is used for adjusting preset control parameters of the self-starting synchronous motor according to the first voltage frequency and the second voltage frequency, wherein the preset control parameters are voltage frequencies.
Optionally, the operation parameters are a rotating speed and a torque, and the detection module comprises a rotating speed detection module and a torque detection module, which are respectively used for acquiring the rotating speed and the torque of the self-starting synchronous motor; the feedback module comprises a rotating speed feedback module and a torque feedback module and is used for converting the torque into a first voltage amplitude according to the rotating speed; the set value determining module comprises a torque set value determining module and a second voltage amplitude value corresponding to a target control parameter, wherein the target control parameter is a torque parameter; the adjusting module comprises a voltage amplitude adjusting module and is used for adjusting a preset control parameter of the self-starting synchronous motor according to the first voltage amplitude and the second voltage amplitude, wherein the preset control parameter is the voltage amplitude.
The control device for the self-starting synchronous motor further comprises modules for executing other method steps in the embodiment 1.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including: comprising a stored program, wherein the control device on which the storage medium is located is controlled to execute the above-described control method for self-starting a synchronous machine when the program is run.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the control method of the self-starting synchronous motor.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (8)
1. A control method of a self-starting synchronous motor, characterized by comprising:
acquiring a first conversion value corresponding to an operation parameter of the self-starting synchronous motor;
acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor;
adjusting a preset control parameter of the self-starting synchronous motor according to the first conversion value and the second conversion value, wherein the first conversion value, the second conversion value and the preset control parameter have the same parameter type, and the parameter type includes: the method comprises the following steps of obtaining a first conversion value corresponding to the operation parameter of the self-starting synchronous motor, wherein the first conversion value comprises the following steps: collecting the rotating speed and the torque of the self-starting synchronous motor; converting the rotating speed and the torque into a voltage amplitude value to obtain a first conversion value, and acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor, wherein the method comprises the following steps: acquiring the target control parameter, wherein the target control parameter is a torque parameter corresponding to a rotating speed; converting the target control parameter into a voltage amplitude according to the rotating speed to obtain a second conversion value; the conversion calculation formula of the voltage amplitude, the rotating speed and the torque is as follows:
wherein U is the voltage amplitude, T is the torque, X d 、X q Is the quadrature-direct axis inductance value, ω is the rotational speed, θ is the torque angle, E 0 The effective value of no-load counter potential is obtained, and m is the phase number of the motor; p is the number of pole pairs of the motor.
2. The method according to claim 1, wherein the operation parameter is a rotational speed, the parameter type of the first conversion value is a voltage frequency, and acquiring the first conversion value corresponding to the operation parameter of the self-starting synchronous motor comprises:
collecting the rotating speed of the self-starting synchronous motor;
acquiring a motor pole pair number and a preset constant of the self-starting synchronous motor;
and determining the voltage frequency corresponding to the rotating speed according to the rotating speed, the number of the pole pairs of the motor and the preset constant.
3. The method according to claim 2, wherein obtaining a second conversion value corresponding to a target control parameter of the self-starting synchronous motor comprises:
acquiring the target control parameter, wherein the target control parameter is a rotating speed parameter;
and converting the target control parameter into voltage frequency to obtain the second conversion value.
4. The method of claim 1, wherein adjusting the preset control parameter of the self-starting synchronous machine based on the first transition value and the second transition value comprises:
raising an operating voltage of the self-starting synchronous motor if the second conversion value is greater than the first conversion value;
and if the second conversion value is smaller than the first conversion value, reducing the running voltage of the self-starting synchronous motor.
5. A control device for a self-starting synchronous motor, comprising:
the detection module is used for acquiring the operation parameters of the self-starting synchronous motor;
the feedback module is used for acquiring a first conversion value corresponding to the running parameter of the self-starting synchronous motor;
the given value determining module is used for acquiring a second conversion value corresponding to a target control parameter of the self-starting synchronous motor;
an adjusting module, configured to adjust a preset control parameter of the self-starting synchronous motor according to the first conversion value and the second conversion value, where the first conversion value, the second conversion value, and the preset control parameter have the same parameter type, and the parameter type includes: the detection module comprises a rotating speed detection module and a torque detection module which are respectively used for collecting the rotating speed and the torque of the self-starting synchronous motor; the feedback module comprises a rotating speed feedback module and a torque feedback module and is used for converting the torque into a first voltage amplitude according to the rotating speed; the set value determining module comprises a torque set value determining module and a second voltage amplitude value acquiring module, wherein the second voltage amplitude value is corresponding to a target control parameter, and the target control parameter is a torque parameter; the adjusting module comprises a voltage amplitude adjusting module and is used for adjusting preset control parameters of the self-starting synchronous motor according to the first voltage amplitude and the second voltage amplitude, wherein the preset control parameters are voltage amplitudes; the conversion calculation formula of the voltage amplitude, the rotating speed and the torque is as follows:
wherein U is the voltage amplitude, T is the torque, X d 、X q Is the quadrature-direct axis inductance value, ω is the rotational speed, θ is the torque angle, E 0 The effective value of no-load counter potential is obtained, and m is the phase number of the motor; p is the number of pole pairs of the motor.
6. The control device of claim 5, wherein the operating parameter is rotational speed, and the detection module comprises a rotational speed detection module for acquiring the rotational speed of the self-starting synchronous motor;
the feedback module comprises a rotating speed feedback module which is used for acquiring a first voltage frequency corresponding to the rotating speed of the self-starting synchronous motor;
the given value determining module comprises a rotating speed given value determining module and is used for acquiring a second voltage frequency corresponding to a target control parameter, wherein the target control parameter is a rotating speed parameter;
the adjusting module comprises a voltage frequency adjusting module and is used for adjusting a preset control parameter of the self-starting synchronous motor according to the first voltage frequency and the second voltage frequency, wherein the preset control parameter is the voltage frequency.
7. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is stored is controlled to execute a control method of a self-starting synchronous motor according to any one of claims 1 to 4 when the program is executed.
8. A processor, characterized in that the processor is configured to run a program, wherein the program is executed to execute the control method of the self-starting synchronous machine according to any one of claims 1 to 4 when running.
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