CN113852315A - Device and method for generating torsional vibration of rotor - Google Patents

Device and method for generating torsional vibration of rotor Download PDF

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Publication number
CN113852315A
CN113852315A CN202111253198.0A CN202111253198A CN113852315A CN 113852315 A CN113852315 A CN 113852315A CN 202111253198 A CN202111253198 A CN 202111253198A CN 113852315 A CN113852315 A CN 113852315A
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China
Prior art keywords
current
amplitude
permanent magnet
synchronous motor
magnet synchronous
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CN202111253198.0A
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Chinese (zh)
Inventor
龙友能
胡方圆
何思伟
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Zhenjiang Zhuanneng Electronic Technology Co ltd
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Zhenjiang Zhuanneng Electronic Technology Co ltd
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Priority to CN202111253198.0A priority Critical patent/CN113852315A/en
Publication of CN113852315A publication Critical patent/CN113852315A/en
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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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M7/00—Vibration-testing of structures; Shock-testing of structures
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • 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
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention relates to a device and a method for generating torsional vibration of a rotor, and the device comprises a single chip microcomputer, a rectifying circuit, an inverter, a current sensor, a position sensor, a gate pole driving circuit and a permanent magnet synchronous motor, wherein the single chip microcomputer is provided with a communication interface, the single chip microcomputer detects the position of a rotor of the permanent magnet synchronous motor through the position sensor, the single chip microcomputer detects the phase current of the permanent magnet synchronous motor through the current sensor, a vector control strategy is adopted, a pulse width modulation signal is output, three-phase alternating current is output through the inverter to drive the permanent magnet synchronous motor, and the alternating shaft current of the permanent magnet synchronous motor is controlled to change according to a sine rule, so that the permanent magnet synchronous motor outputs torque changing according to the sine rule, and torsional vibration is generated, and the single chip microcomputer is communicated with an external host through the communication interface to obtain a frequency target value and an amplitude target value of the torsional vibration. The invention has the advantages that: the quadrature axis current of the motor is changed according to a sine rule to generate torsional vibration, the frequency range of the torsional vibration can be 0.1 to 1000Hz, and the frequency range is wide.

Description

Device and method for generating torsional vibration of rotor
The invention relates to the field of rotating machinery experiment systems, in particular to a device and a method for generating torsional vibration of a rotor.
Background
During operation of rotating machine shaft systems, torsional vibration phenomena occur due to fluctuations in torque loads, such as steam turbines, centrifugal compressors, automotive and marine internal combustion engines, propeller drive systems, rotary pumps, etc. When a certain frequency component in such dynamic loading tends to coincide with the natural torsional frequency of the shaft system structure, the shaft system may generate severe torsional resonance, which is very likely to cause damage and failure of parts. Therefore, during the process of design development, product improvement or fault diagnosis of a shaft system product, the natural torsional frequency of the shaft system product is often required to be measured through a modal analysis technology, and a torsional vibration exciter is one of the constituent devices of the test system. In addition to being applied to the analysis of the rotating machinery, the torsional vibration exciter can also be used for carrying out various torsional vibration experiments on the shaft system, such as product durability experiments, product torsional vibration response experiments and the like.
The system for analyzing and exciting torsional vibration and vibration of a rotor, which is provided by the Chinese patent No. CN201310541227.2, uses a signal generator to generate alternating signals, and the alternating signals are superposed with the output of a direct-current voltage-stabilizing linear power supply after the alternating signals are acted by a power amplifier and a transformer to be used as the input of a direct-current motor, so that the alternating signals output fluctuation torque. The method adopts a direct current motor, torque pulsation can be generated when the motor is commutated, and the pulsation frequency changes along with the rotating speed, so that the torsional vibration of pure frequency is not favorably generated.
Disclosure of Invention
The present invention is to solve the above problems, and provides an apparatus and a method for generating torsional vibration of a rotor.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a method for generating torsional vibration of a rotor comprises a single chip microcomputer, a rectifying circuit, an inverter, a current sensor, a position sensor, a gate drive circuit and a permanent magnet synchronous motor, wherein the rectifying circuit, the inverter and the current sensor are sequentially and electrically connected through a lead, the single chip microcomputer is electrically connected with the inverter through the gate drive circuit, the position sensor is electrically connected with the single chip microcomputer, the current sensor is electrically connected with the single chip microcomputer, the single chip microcomputer is provided with a communication interface, the single chip microcomputer detects the position of a rotor of the permanent magnet synchronous motor through the position sensor, the single chip microcomputer detects the phase current of the permanent magnet synchronous motor through the current sensor, a vector control strategy is adopted to output a pulse width modulation signal, three-phase alternating current is output through the inverter to drive the permanent magnet synchronous motor, and the quadrature axis current of the permanent magnet synchronous motor is controlled to change according to a sine rule, so that the permanent magnet synchronous motor outputs torque changing according to the sine rule, the single chip microcomputer is communicated with an external host through a communication interface to obtain a frequency target value and an amplitude target value of the torsional vibration, and the method specifically comprises the following steps:
s1, the relationship between the quadrature axis input voltage and the quadrature axis current of the permanent magnet synchronous motor is linear, when the quadrature axis input voltage is sinusoidal, quadrature axis current waveforms with the same frequency but different amplitudes and phases are obtained,
s2, controlling the amplitude and frequency of the quadrature axis current as the target, inputting the target frequency value into the sin signal generator to generate a sine signal sin output value with standard amplitude target frequency, multiplying the sine signal sin output value by the amplitude correction coefficient, applying the multiplied value as the quadrature axis voltage to the permanent magnet synchronous motor to obtain the quadrature axis current with sine variation,
s3, obtaining the current quadrature axis current amplitude according to the detected quadrature axis current, subtracting the target value of the quadrature axis current amplitude from the target value, performing PI operation to obtain a sin amplitude correction coefficient, multiplying the sin amplitude correction coefficient by the sin signal sin output value to obtain a sin correction output value, realizing closed-loop control of the current amplitude,
s4, when the permanent magnet synchronous motor generates counter electromotive force, counter electromotive force compensation is carried out by combining the rotating speed of the permanent magnet synchronous motor with the counter electromotive force constant of the permanent magnet synchronous motor and a current bias compensation link is added to close the quadrature axis current to zero,
and S5, detecting the current amplitude, and dividing the current amplitude by 2 after subtracting the minimum value from the maximum value of the current in a complete sine cycle.
After adopting the structure, the invention has the following advantages: the vector control strategy is adopted to control the permanent magnet synchronous motor, so that the quadrature axis current of the permanent magnet synchronous motor is changed according to the sine rule to generate torsional vibration, the range of the torsional vibration frequency can be 0.1-1000 Hz, and the frequency range is wide; the amplitude of the torsional vibration is controlled by adopting a method of tracking the amplitude of the sinusoidal target current, the response speed is high, the amplitude precision is high, the alternating-axis current direct current bias is compensated, and the direct current component in the output torque is removed.
As an improvement, the current bias compensation comprises obtaining a dc bias of the ac current, the dc bias of the ac current being obtained by dividing a maximum value plus a minimum value of the current within one complete sinusoidal cycle by 2.
As an improvement, when the frequency is lower, an amplitude correction coefficient is obtained by multiplying an amplitude target value by a sin output value, and performing PI operation after the difference is made between the sin output value and the quadrature axis current.
As an improvement, when the frequency is low, the amplitude of the quadrature axis current is tracked by using an enhanced phase-locked loop (EPLL), the amplitude of the quadrature axis current is obtained, and then an amplitude correction coefficient is calculated.
Drawings
Fig. 1 is a schematic structural view of an apparatus for generating torsional vibration of a rotor and a method thereof according to the present invention.
Fig. 2 is a control schematic block diagram of an apparatus for generating torsional vibration of a rotor and a method thereof according to the present invention.
As shown in the figure: 1. permanent magnet synchronous machine, 2, singlechip, 3, rectifier circuit, 4, inverter, 5, current sensor, 6, position sensor, 7, gate drive circuit, 8, communication interface.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
With reference to fig. 1 and 2, a method for generating torsional vibration of a rotor includes a permanent magnet synchronous motor 1, a single chip microcomputer 2, a rectifying circuit 3, an inverter 4, a current sensor 5, a position sensor 6 and a gate driving circuit 7, wherein the rectifying circuit 3, the inverter 4 and the current sensor 5 are electrically connected in sequence through conducting wires, the single chip microcomputer 2 is electrically connected with the inverter 4 through the gate driving circuit 7, the current sensor 5 is electrically connected with the single chip microcomputer 2 through the position sensor 6, the current sensor 5 is electrically connected with the single chip microcomputer 2, the single chip microcomputer 2 is provided with a communication interface 8, the single chip microcomputer 2 detects the position of the rotor of the permanent magnet synchronous motor through the position sensor 6, the single chip microcomputer 2 detects the phase current of the permanent magnet synchronous motor through the current sensor 5, outputs a pulse width modulation signal by adopting a vector control strategy, and outputs three-phase alternating current through the inverter 4 to drive the permanent magnet synchronous motor, and controlling the quadrature axis current to change according to a sine law, so that the permanent magnet synchronous motor outputs torque changing according to the sine law, and torsional vibration is generated, the singlechip 2 is communicated with an external host through a communication interface 8, and a frequency target value and an amplitude target value of the torsional vibration are obtained, and the method specifically comprises the following steps:
s1, the relationship between the quadrature axis input voltage and the quadrature axis current of the permanent magnet synchronous motor is linear, when the quadrature axis input voltage is sinusoidal, quadrature axis current waveforms with the same frequency but different amplitudes and phases are obtained,
s2, controlling the amplitude and frequency of the quadrature axis current as the target, inputting the target frequency value into the sin signal generator to generate a sine signal sin output value with standard amplitude target frequency, multiplying the sine signal sin output value by the amplitude correction coefficient, applying the multiplied value as the quadrature axis voltage to the permanent magnet synchronous motor to obtain the quadrature axis current with sine variation,
s3, obtaining the current quadrature axis current amplitude according to the detected quadrature axis current, subtracting the target value of the quadrature axis current amplitude from the target value, performing PI operation to obtain a sin amplitude correction coefficient, multiplying the sin amplitude correction coefficient by the sin signal sin output value to obtain a sin correction output value, realizing closed-loop control of the current amplitude,
s4, when the permanent magnet synchronous motor generates counter electromotive force, counter electromotive force compensation is carried out by combining the rotating speed of the permanent magnet synchronous motor with the counter electromotive force constant of the permanent magnet synchronous motor and a current bias compensation link is added to close the quadrature axis current to zero,
and S5, detecting the current amplitude, and dividing the current amplitude by 2 after subtracting the minimum value from the maximum value of the current in a complete sine cycle.
The current bias compensation comprises obtaining direct current bias of the alternating current, and the direct current bias of the alternating current is obtained by adding a minimum value to a maximum value of the alternating current in a complete sine cycle and dividing the minimum value by 2.
And when the frequency is lower, multiplying the target value of the amplitude by the sin output value, and carrying out PI operation after the difference is carried out between the target value of the amplitude and the quadrature axis current to obtain an amplitude correction coefficient.
And when the frequency is lower, tracking the amplitude of the quadrature axis current by using an enhanced phase-locked loop (EPLL), acquiring the amplitude of the quadrature axis current, and further calculating an amplitude correction coefficient.
When the invention is implemented specifically, the direct-axis current of the permanent magnet synchronous motor generates a magnetic field, the quadrature axis generates torque, the quadrature axis current is controlled to change according to a sine rule, so that sine torque can be obtained, and torsional vibration is generated; if the method of directly tracking the sinusoidal target value by the quadrature axis current is directly adopted, the quadrature axis current needs a plurality of control cycles to reach the target value, and when the sinusoidal frequency is higher, the current amplitude is not easy to reach the set value, so that the method is not beneficial to generating torsional vibration with higher frequency. The relationship between the quadrature axis input voltage and the quadrature axis current of the permanent magnet synchronous motor is linear, so that quadrature axis current waveforms with the same frequency but different amplitudes and phases can be obtained when the quadrature axis input voltage is sinusoidal.
The control target is the amplitude and the frequency of the quadrature axis current, the frequency target value is input into a sin signal generator to generate a sine signal sin output value of a standard amplitude target frequency, the sine signal sin output value is multiplied by an amplitude correction coefficient and then is applied to the permanent magnet synchronous motor as quadrature axis voltage, and the quadrature axis current with sine change can be obtained. The back electromotive force compensation cannot completely offset the direct current offset of the alternating current caused by the back electromotive force generated by the dragging of the permanent magnet synchronous motor, so that the alternating current needs to be detected, a current offset compensation link needs to be added, and the alternating current is closed to zero. Obtaining the current amplitude of the quadrature axis according to the detected quadrature axis current, subtracting the target value of the current amplitude from the current amplitude, then carrying out PI operation to obtain a sin amplitude correction coefficient, multiplying the sin amplitude correction coefficient by a sin signal sin output value to obtain a sin correction output value, and realizing closed-loop control on the current amplitude.
The current bias compensation needs to obtain the direct current bias of the alternating current, and the direct current bias of the alternating current can be obtained by dividing 2 after adding the minimum value to the maximum value of the current in a complete sine cycle.
The current amplitude detection can be obtained by subtracting the minimum value from the maximum value of the current in a complete sine cycle and dividing the result by 2, the method is simple and is not influenced by alternating-current direct-current offset, but one sine cycle can be detected only once, and when the frequency is low, the frequency of amplitude correction is low, so that the control effect is influenced; therefore, an amplitude correction coefficient can be obtained by multiplying the amplitude target value by the sin output value and performing PI operation after the difference is made between the sin output value and the quadrature axis current; the amplitude of the quadrature axis current can also be tracked by using an enhanced phase-locked loop (EPLL) to obtain the amplitude of the quadrature axis current, and then the amplitude correction coefficient is calculated.
The present invention and its embodiments have been described above, but the description is not limitative, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. A method of generating torsional vibration of a rotor, comprising: the device comprises a single chip microcomputer, a rectifying circuit, an inverter, a current sensor, a position sensor, a gate drive circuit and a permanent magnet synchronous motor, wherein the rectifying circuit, the inverter and the current sensor are sequentially and electrically connected through a lead, the single chip microcomputer is electrically connected with the inverter through the gate drive circuit, the position sensor is electrically connected with the single chip microcomputer, the current sensor is electrically connected with the single chip microcomputer, the single chip microcomputer is provided with a communication interface, the single chip microcomputer detects the position of a rotor of the permanent magnet synchronous motor through the position sensor, the single chip microcomputer detects the phase current of the permanent magnet synchronous motor through the current sensor, a vector control strategy is adopted, a pulse width modulation signal is output, three-phase alternating current is output through the inverter to drive the permanent magnet synchronous motor, and the quadrature axis current of the permanent magnet synchronous motor is controlled to change according to a sine rule, so that the permanent magnet synchronous motor outputs torque changing according to the sine rule, the single chip microcomputer is communicated with an external host through a communication interface to obtain a frequency target value and an amplitude target value of the torsional vibration, and the method specifically comprises the following steps:
s1, the relationship between the quadrature axis input voltage and the quadrature axis current of the permanent magnet synchronous motor is linear, when the quadrature axis input voltage is sinusoidal, quadrature axis current waveforms with the same frequency but different amplitudes and phases are obtained,
s2, controlling the amplitude and frequency of the quadrature axis current as the target, inputting the target frequency value into the sin signal generator to generate a sine signal sin output value with standard amplitude target frequency, multiplying the sine signal sin output value by the amplitude correction coefficient, applying the multiplied value as the quadrature axis voltage to the permanent magnet synchronous motor to obtain the quadrature axis current with sine variation,
s3, obtaining the current quadrature axis current amplitude according to the detected quadrature axis current, subtracting the target value of the quadrature axis current amplitude from the target value, performing PI operation to obtain a sin amplitude correction coefficient, multiplying the sin amplitude correction coefficient by the sin signal sin output value to obtain a sin correction output value, realizing closed-loop control of the current amplitude,
s4, when the permanent magnet synchronous motor generates counter electromotive force, counter electromotive force compensation is carried out by combining the rotating speed of the permanent magnet synchronous motor with the counter electromotive force constant of the permanent magnet synchronous motor and a current bias compensation link is added to close the quadrature axis current to zero,
and S5, detecting the current amplitude, and dividing the current amplitude by 2 after subtracting the minimum value from the maximum value of the current in a complete sine cycle.
2. A method of generating torsional vibrations of a rotor as defined in claim 1, wherein: the current bias compensation comprises obtaining direct current bias of the alternating current, and the direct current bias of the alternating current is obtained by adding a minimum value to a maximum value of the alternating current in a complete sine cycle and dividing the minimum value by 2.
3. A method of generating torsional vibrations of a rotor as defined in claim 1, wherein: and when the frequency is lower, multiplying the target value of the amplitude by the sin output value, and carrying out PI operation after the difference is carried out between the target value of the amplitude and the quadrature axis current to obtain an amplitude correction coefficient.
4. A method of generating torsional vibrations of a rotor as defined in claim 1, wherein: and when the frequency is lower, tracking the amplitude of the quadrature axis current by using an enhanced phase-locked loop (EPLL), acquiring the amplitude of the quadrature axis current, and further calculating an amplitude correction coefficient.
CN202111253198.0A 2021-10-27 2021-10-27 Device and method for generating torsional vibration of rotor Pending CN113852315A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111253198.0A CN113852315A (en) 2021-10-27 2021-10-27 Device and method for generating torsional vibration of rotor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111253198.0A CN113852315A (en) 2021-10-27 2021-10-27 Device and method for generating torsional vibration of rotor

Publications (1)

Publication Number Publication Date
CN113852315A true CN113852315A (en) 2021-12-28

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Application Number Title Priority Date Filing Date
CN202111253198.0A Pending CN113852315A (en) 2021-10-27 2021-10-27 Device and method for generating torsional vibration of rotor

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