CN113839597A - Motor starting method, motor starting and synchronous operation method with different power supplies supplying power - Google Patents
Motor starting method, motor starting and synchronous operation method with different power supplies supplying power Download PDFInfo
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- CN113839597A CN113839597A CN202111049576.3A CN202111049576A CN113839597A CN 113839597 A CN113839597 A CN 113839597A CN 202111049576 A CN202111049576 A CN 202111049576A CN 113839597 A CN113839597 A CN 113839597A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 26
- 230000004907 flux Effects 0.000 claims description 20
- 230000009466 transformation Effects 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 11
- 230000005284 excitation Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 230000001131 transforming effect Effects 0.000 claims description 2
- 238000011017 operating method Methods 0.000 abstract 2
- 230000001133 acceleration Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
- H02P1/58—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors sequentially
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/50—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing electrical values representing the speeds
Abstract
The invention belongs to a motor starting and operating method, and provides a motor starting method and a motor starting and synchronous operating method for different power supplies, wherein when two motors requiring different power supplies to supply power at present drive the same load together, the existing power supply unit can not meet the requirement of synchronous control, and because of the difference of power grid parameters such as voltage and frequency of two power supplies, shaft torque is generated, so that the unit fails to normally operate. The second motor is started through rotating speed closed-loop control and stator current closed-loop control, after the second motor reaches the synchronous rotating speed with the first motor, the synchronous clutch switches the second motor and the first motor to coaxial operation, the rotating speed loop control started by the second motor is cut off, and a torque loop vector control mode is adopted.
Description
Technical Field
The invention belongs to a motor starting and running method, and particularly relates to a motor starting method and a motor starting and synchronous running method powered by different power supplies.
Background
At present, the power supply unit mainly comprises an electric drive system and a variable frequency speed control system. The electric drive system generally comprises a motor, a frequency converter, a switch cabinet and other equipment, wherein the motor is key equipment in the unit drive system, provides power for the whole unit, is reliable in starting and safe and stable in operation, is the basis of normal operation of the whole system, and is of great importance for ensuring the safety and reliability of the unit. For some units operated under variable working conditions, a variable frequency speed regulating system consisting of a frequency converter and a switch cabinet can be adopted, and the change of technological parameter requirements is realized by changing the rotating speed.
When two motors which need different power supplies to supply power jointly drive the same load, the conventional electric drive system generally adopts one motor to drive one load, and the power supply of the motor is only one, so that the control is convenient, but the requirement on the synchronous control of the two motors which supply power by different power supplies cannot be met. The existing variable frequency speed control system generally controls one motor by one set of frequency converter, realizes the control of starting, reducing, increasing and stopping of the motor, and cannot meet the requirement of synchronous control of two motors.
Because the voltage, frequency and other electric network parameters of the two power supplies are different, the rotating speeds of the two motors are inconsistent, and when the same load is dragged, shaft torque is generated, so that the unit fails to operate normally.
Disclosure of Invention
The invention provides a motor starting method and a motor starting and synchronous operation method powered by different power supplies, aiming at solving the technical problems that when two motors powered by different power supplies drive the same load together, the existing power supply unit can not meet the requirement of synchronous control, and the unit can not normally operate due to shaft torque generated by power grid parameter differences such as voltage and frequency of two power supplies.
In order to achieve the purpose, the invention provides the following technical scheme:
a starting method of a motor, wherein the motor is powered by a power grid through a frequency converter, is characterized by comprising the following steps:
s1, performing two-phase stationary coordinate conversion on three-phase stator current of the motor to obtain corresponding current signals under a two-phase stationary transformation coordinate system, and performing two-phase rotating coordinate conversion to obtain corresponding current signals under a two-phase rotating coordinate system; the corresponding current signals under the two-phase rotating coordinate system are respectively exciting current and torque current;
s2, comparing the difference value of the exciting current and the torque current obtained in the step S1 with a preset exciting current and a preset torque current respectively, and outputting corresponding voltage signals after current regulation;
s3, carrying out reverse rotation transformation on the corresponding voltage signal output in the step S2, and transforming the voltage signal into a corresponding voltage signal under a two-phase static transformation coordinate system;
s4, inputting the corresponding voltage signal under the two-phase static transformation coordinate system and the corresponding current signal under the two-phase static transformation coordinate system obtained in the step S1 into a rotor flux linkage observation and speed observation model, and using the obtained magnetic field orientation angle for the two-phase rotation coordinate conversion in the step S1;
and meanwhile, the corresponding voltage signals under the two-phase static transformation coordinate system are used as inverters input into the frequency converter for control, and then the motor is driven to start.
Further, in step S2, the preset excitation current is obtained by:
comparing the difference value of the preset rotor flux linkage with the actual rotor flux linkage obtained by the rotor flux linkage observation and speed observation model, and obtaining the excitation current which is output after flux linkage adjustment, namely the preset excitation current;
in step S2, the preset torque current is obtained by:
and comparing the difference value of the preset rotor rotating speed and the actual rotor rotating speed, and obtaining the preset torque current as the torque current output after speed regulation.
Further, in step S2, the method further includes, after the current adjustment, between outputting the corresponding voltage signal and the current adjustment:
and after the preset exciting current and the preset torque current are subjected to feedforward compensation respectively, adding the difference comparison results corresponding to the preset exciting current and the preset torque current.
The invention also provides a starting method of motors powered by different power supplies, wherein the motors powered by different power supplies comprise a first motor powered by a first power grid and a second motor powered by a second power grid; the first motor and the second motor are connected through a synchronous clutch and drive a load together, wherein the first motor operates at power frequency, the second motor operates at variable frequency, and a frequency converter is arranged between the second power grid and the second motor; the method is characterized by comprising the following steps:
s1, starting the first motor;
s2, starting the second motor by adopting the motor starting method until the rotating speed of the second motor reaches the rotating speed of the first motor;
and S3, the first motor and the second motor are operated coaxially through the synchronous clutch.
Furthermore, the input of the frequency converter adopts a phase-shifting transformer, and the secondary side of the frequency converter is reduced in voltage and adopts an edge-extending triangular type.
In addition, the invention also provides a synchronous operation method of motors powered by different power supplies, which is characterized by comprising the following steps:
s1, the first motor and the second motor are operated coaxially by adopting the motor starting method of different power supplies; the second motor (2) is switched to torque loop control; s2, in the running process that the first motor and the second motor run coaxially to drive the load together, controlling the first motor and the second motor to run synchronously according to the following method:
if the output power of the second motor changes:
when the frequency converter controls the second motor according to the active power increasing instruction of the second power grid, so that the electromagnetic torque of the second motor is increased, the slip of the first motor is reduced;
when the frequency converter controls the second motor according to the active power reduction instruction of the second power grid to reduce the electromagnetic torque of the second motor, the slip of the first motor is increased;
if the output power of the first motor changes:
the rotating speeds of the first motor and the second motor are adjusted along with the power of the second motor, so that the first motor and the second motor operate at the same rotating speed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the second motor decomposes the current to dq axis through vector control to carry out decoupling control on the motor current, so that the control effect similar to that of a direct current motor is achieved, and real-time instruction tracking of a current torque component iq and a flux linkage component id is realized, thereby realizing accurate control of electromagnetic torque. After the first motor is started, the second motor achieves synchronous rotating speed with the first motor through vector control, then the two motors run coaxially through the synchronous clutch, the problem of synchronism control when the two motors powered by different power supplies drag the same load is successfully solved, and simulation experiments prove that the method is effective.
2. The method of the invention solves the problem that the motors powered by different power supplies have different influences on the motors due to different voltages, frequencies and power factors.
3. The method solves the problems of different rotating speeds and motor power distribution among motors powered by different power supplies.
4. The method solves the problem of shaft torsional vibration caused by different rotating speeds of the motors among the motors powered by different power supplies.
Drawings
FIG. 1 is a schematic diagram illustrating the connection between a first motor and a second motor in a motor starting method for supplying power from different power sources according to the present invention;
fig. 2 is a schematic block diagram of an embodiment of a motor starting method of the present invention.
The system comprises a first motor, a second motor, a first power grid, a second power grid, a load, a synchronous clutch, a 7-frequency converter and a 8-gear box, wherein 1 represents a first motor, 2 represents a second motor, 3 represents a first power grid, 4 represents a second power grid, 5 represents a load, 6 represents a synchronous clutch, and 7 represents a frequency converter.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.
For the same load 5 driven by the first motor 1 and the second motor 2 which are powered by different power grid power supplies, the rotating speeds of the two motors are required to be consistent during operation for reliable and stable operation of the system, and the total output power reaches the power required by the load 5. The first motor 1 and the second motor 2 are operated coaxially, under the condition that the rotating speeds are consistent, the torque output of the two motors needs to be controlled, power control is well performed, and if the two motors are asynchronous, the motor output, shafting torsional vibration and the like are affected, and even mechanical faults are caused.
The invention provides a method for synchronous control and power distribution when two motors powered by different power supplies drive the same load together, and solves the problem of inconsistent rotating speeds of the two motors powered by different power supplies.
As shown in fig. 1, a simplified system is shown, a first motor 1 powered by a first power grid 3 and a second motor 2 powered by a second power grid 4, the first motor 1 and the second motor 2 are connected through a synchronous clutch 6 and drive a load 5 together, wherein the first motor 1 operates at power frequency, the second motor 2 operates at variable frequency, a frequency converter 7 is arranged between the second power grid 4 and the second motor 2, and an output shaft of the first motor 1 is connected with the load 5 through a gear box 8, so that the first motor 1 and the second motor 2 drive the load 5 together to operate. The input of the frequency converter 7 adopts a phase-shifting transformer, the secondary side is reduced voltage, and an extended triangle type is adopted. The three-phase input of each power unit is rectified by a rectifier bridge and filtered by a capacitor to become stable direct current, then is inverted into single-phase SPWM waveform by an H bridge consisting of IGBTs, each phase is formed by connecting a plurality of power units in series, and the output is connected to form a high-voltage system to directly drive the second motor 2. When two motors powered by different power supplies coaxially drag the same load 5, the instantaneous voltage and frequency of the power supplies of the two motors may be different, so that the rotation speeds of the two motors are asynchronous, the shafting generates torsional vibration, the motors are overloaded and the like. In order to avoid this, the present invention proposes a synchronization control method as follows:
when the motor is started, the first motor 1 which runs at power frequency is started firstly, the second motor 2 which runs under the control of the variable-frequency torque loop is started, and when the second motor 2 is started, the problem of coaxial driving of the two motors is considered, so that the motor can be rotated to track and start, and the second motor 2 is dragged. Before the second motor 2 runs coaxially with the first motor 1 through the synchronous clutch 6, the second motor 2 needs to be started through the frequency converter 7, so that the rotating speed of the second motor 2 is basically consistent with that of the first motor 1, and at the stage, the frequency converter 7 controls the second motor 2 to run by adopting a speed-sensor-free vector control strategy shown in fig. 2. According to the vector control principle of the asynchronous motor, the current is decomposed to a dq axis to decouple and control the current of the asynchronous motor, so that the control effect similar to that of a direct current motor is achieved, real-time instruction tracking of a current torque component iq and a flux linkage component id is achieved, and accurate control of electromagnetic torque is achieved.
And vector control of the starting of the second motor 2 comprises closed-loop control of the rotating speed and closed-loop control of the stator current.
Preset rotor speed
And the actual rotor speed omega obtained by identificationrComparing the difference values, and outputting torque current after passing through a PI speed regulator
The difference value of the preset rotor flux linkage and the actual rotor flux linkage obtained by the rotor flux linkage observation and speed observation model is compared, and the excitation current is output through the flux linkage regulator
Namely the preset exciting current. The stator current of the second electric machine 2 can be measured by means of a current transformer, the voltage is obtained by means of a voltage reconstruction technique, and the current signal (i) obtainedA、iB、iC) After three-phase static to two-phase static coordinate transformation (3s/2s transformation), obtaining a corresponding current signal i under a two-phase static transformation coordinate systemsα、isβThe current signal is used as the current input for rotor flux linkage observation and speed observation for calculating the rotor flux linkage and the magnetic field orientation angle theta, and meanwhile, the current signal is subjected to PARK transformation (transformation from two-phase stationary to two-phase rotating coordinates) to obtain a corresponding current signal under a two-phase rotating coordinate system
Exciting current on two-phase rotating coordinate system dq
Torque current
Respectively with a predetermined exciting current
Preset rotationMoment current
Inputting the difference value into a current regulator, performing feedforward compensation on the preset exciting current and the preset torque current respectively, adding the difference value and the corresponding difference value comparison result, and outputting a voltage signal on a dq shafting
Then converted into voltage on two-phase stationary coordinate system alpha beta by inverse PARK
And taking the voltage as the input of a model for calculating the rotor flux linkage observation and speed observation, and controlling the VSI to further drive the second motor 2 to operate.
The vector control is based on the realization of real-time instruction tracking of the current torque component iq and the flux linkage component id, so that the accurate control of the electromagnetic torque is realized.
After the second motor 2 reaches the synchronous rotating speed with the first motor 1, the synchronous clutch 6 switches the second motor 2 and the first motor 1 to coaxial operation, the rotating speed loop control started by the second motor 2 can be cut off, a torque loop vector control mode is adopted, and the control method after switching is as follows:
after the second motor 2 and the first motor 1 run coaxially, the second motor 2 adopts a maximum power running vector control mode, the second motor 2 outputs according to a power instruction of the second power grid 4, and drives the load 5 coaxially with the first motor 1, in the process, the second motor 2 and the first motor 1 need to run at the same rotating speed and the same frequency, and a power equation and a torque equation of the system are respectively as follows:
Pfirst motor+PSecond electric machine＝PLoad(s)
Wherein, PFirst motorIs the output power of the first motor, PSecond electric machineIs the output power of the second motor, PLoad(s)Is the power of the load, TFirst motorIs the output torque of the first electric machine, TSecond electric machineIs the output torque of the second electric machine, TLoad(s)Is the torque of the load, J is the system moment of inertia,
is the system acceleration.
The difference between the output torque of the first motor 1 and the output torque of the second motor 2 controlled by the inverter 7 and the torque of the load 5 determines the rotation speed variation and the synchronism control of the system. When the frequency converter 7 varies in dependence on the available energy of the second power network 4, the output power also varies. When the frequency converter 7 controls the second motor 2 to output a larger electromagnetic torque according to the increased active power instruction, the acceleration of the system is positive, the system is accelerated to run, so that the slip of the first motor 1 is reduced, the output electromagnetic torque is also reduced, and the torque equation of the system is rebalanced; when the frequency converter 7 controls the electromagnetic torque output by the second motor 2 to be reduced according to the active power reduction command, the adjustment process of the system electromagnetic torque equation is just opposite to the process, so that the system reaches new balance.
When the output power of the first motor 1 changes to bring the slip of the first motor 1, the rotating speed changes along with the fluctuation of the power output of the second motor 2, so that the first motor 1 and the second motor 2 run coaxially and at the same rotating speed, and the running rotating speed of the system changes between the rated load rotating speed and the no-load rotating speed of the first motor 1.
The method can be split according to actual use requirements, for example, corresponding vector control can be directly adopted when the second motor 2 is started, and for example, when the two motors are started, corresponding starting methods can be adopted for control.
The method provided by the invention has been proved to be feasible through simulation and actual verification, and can ensure the stable operation of the two motors.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A starting method of a motor, wherein the motor is powered by a power grid through a frequency converter, is characterized by comprising the following steps:
s1, performing two-phase stationary coordinate conversion on three-phase stator current of the motor to obtain corresponding current signals under a two-phase stationary transformation coordinate system, and performing two-phase rotating coordinate conversion to obtain corresponding current signals under a two-phase rotating coordinate system; the corresponding current signals under the two-phase rotating coordinate system are respectively exciting current and torque current;
s2, comparing the difference value of the exciting current and the torque current obtained in the step S1 with a preset exciting current and a preset torque current respectively, and outputting corresponding voltage signals after current regulation;
s3, carrying out reverse rotation transformation on the corresponding voltage signal output in the step S2, and transforming the voltage signal into a corresponding voltage signal under a two-phase static transformation coordinate system;
s4, inputting the corresponding voltage signal under the two-phase static transformation coordinate system and the corresponding current signal under the two-phase static transformation coordinate system obtained in the step S1 into a rotor flux linkage observation and speed observation model, and using the obtained magnetic field orientation angle for the two-phase rotation coordinate conversion in the step S1;
and simultaneously, inputting the corresponding voltage signals under the two-phase static transformation coordinate system into an inverter in a frequency converter for control, and further driving the motor to start.
2. A motor starting method as claimed in claim 1, characterized in that:
in step S2, the preset excitation current is obtained by:
comparing the difference value of the preset rotor flux linkage with the actual rotor flux linkage obtained by the rotor flux linkage observation and speed observation model, and obtaining the excitation current which is output after flux linkage adjustment, namely the preset excitation current;
in step S2, the preset torque current is obtained by:
and comparing the difference value of the preset rotor rotating speed and the actual rotor rotating speed, and obtaining the preset torque current as the torque current output after speed regulation.
3. A motor starting method as claimed in claim 1, characterized in that:
in step S2, after the current adjustment, the method further includes:
and after the preset exciting current and the preset torque current are subjected to feedforward compensation respectively, adding the difference comparison results corresponding to the preset exciting current and the preset torque current.
4. A method for starting motors powered by different power sources, comprising a first motor (1) powered by a first power grid (3) and a second motor (2) powered by a second power grid (4); the first motor (1) and the second motor (2) are connected through a synchronous clutch (6) and drive a load (5) together, wherein the first motor (1) operates at power frequency, the second motor (2) operates at variable frequency, and a frequency converter (7) is arranged between the second power grid (4) and the second motor (2); the method is characterized by comprising the following steps:
s1, starting the first motor (1);
s2, starting the second motor (2) by the motor starting method according to any one of claims 1 to 3 until the rotating speed of the second motor (2) reaches the rotating speed of the first motor (1);
and S3, the first motor (1) and the second motor (2) are coaxially operated through the synchronous clutch (6).
5. The method for starting the motor powered by different power supplies as claimed in claim 4, wherein:
the input of the frequency converter (7) adopts a phase-shifting transformer, and the secondary side of the frequency converter is in a voltage reduction and edge-extending triangle type.
6. A synchronous operation method for motors powered by different power supplies is characterized by comprising the following steps:
s1, the first motor (1) and the second motor (2) are coaxially operated by adopting the motor starting method of different power supplies of claim 4 or 5; the second motor (2) is switched to torque loop control;
s2, controlling the first motor (1) and the second motor (2) to synchronously operate according to the following method in the operation process that the first motor (1) and the second motor (2) coaxially operate and jointly drive the load (5):
if the output power of the second motor (2) changes:
when the frequency converter (7) controls the second motor (2) according to the increased active power instruction of the second power grid (4) to increase the electromagnetic torque of the second motor (2), the slip of the first motor (1) is reduced;
when the frequency converter (7) controls the second motor (2) according to the active power reduction command of the second power grid (4) to reduce the electromagnetic torque of the second motor (2), the slip of the first motor (1) is increased;
if the output power of the first electric machine (1) changes:
the rotating speeds of the first motor (1) and the second motor (2) are adjusted along with the power of the second motor (2), so that the first motor (1) and the second motor (2) run at the same rotating speed.
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| CN105024405A (en) * | 2015-08-06 | 2015-11-04 | 沈阳远大科技电工有限公司 | Three-machine set drive variable-frequency generation system |
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| CN110034716A (en) * | 2019-03-07 | 2019-07-19 | 成都运达科技股份有限公司 | A kind of low switching frequency linear motor control method |
| CN112039377A (en) * | 2019-06-04 | 2020-12-04 | 西安许继电力电子技术有限公司 | Self-starting and braking method and device for variable-speed pumped storage unit |
| CN111585498A (en) * | 2020-06-03 | 2020-08-25 | 能科科技股份有限公司 | Variable-frequency speed regulation control system with load observer and frequency converter |
| CN112054720A (en) * | 2020-08-13 | 2020-12-08 | 宁波欧尼克科技有限公司 | Double-motor control system and method for automatic door |
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