CN114204869A - Asynchronous motor control system for conveying belt of intelligent medicine shelf - Google Patents
Asynchronous motor control system for conveying belt of intelligent medicine shelf Download PDFInfo
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- CN114204869A CN114204869A CN202111327983.6A CN202111327983A CN114204869A CN 114204869 A CN114204869 A CN 114204869A CN 202111327983 A CN202111327983 A CN 202111327983A CN 114204869 A CN114204869 A CN 114204869A
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- 239000003814 drug Substances 0.000 title claims abstract description 10
- 230000004907 flux Effects 0.000 claims abstract description 51
- 238000005259 measurement Methods 0.000 claims description 23
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000005284 excitation Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims 1
- 238000000844 transformation Methods 0.000 claims 1
- 239000013598 vector Substances 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- H02P21/22—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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
-
- 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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
-
- 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
- H02P2207/01—Asynchronous machines
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses an asynchronous motor control system for a conveying belt of an intelligent medicine shelf, which comprises: the device comprises a flux linkage comparator, a flux linkage PI module, an exciting current comparator, a d-axis hysteresis module, a rotating speed comparator, a rotating speed PI module, a torque comparator, a torque PI module, a torque current comparator, a q-axis hysteresis module and a PWM generating module, and is used for generating PWM waves, controlling a three-phase inverter and driving an asynchronous motor for a conveying belt of an intelligent medical shelf.
Description
Technical Field
The invention relates to the field of intelligent medicine logistics, in particular to an asynchronous motor control system for a conveying belt of an intelligent medicine shelf.
Background
In the intelligent medicine logistics field, the conveying belt is driven by controlling the asynchronous motor, so that the transportation of the medicine goods on the medicine shelf is realized. This puts stringent requirements on the stability and accuracy of the conveyor belt, and therefore accurate control of the asynchronous motor is the focus of current research.
In terms of the prior art, the driving control method of the asynchronous motor mainly comprises 5 types of motor vector control, direct torque control, adaptive control, sliding mode variable control and predictive control. The direct torque control is a mode of controlling the torque of the three-phase asynchronous motor by the inverter, is different from vector control in that the direct torque control directly controls the controlled torque, has the characteristics of high torque precision, high response speed and loose requirement on motor parameters, and is widely applied.
However, in actual work, the direct torque control system is lack of control over the current of the asynchronous motor, so that the control performance is to be improved, and meanwhile, the switching frequency is not fixed, and the stability performance is poor.
Disclosure of Invention
In view of the above problems, the present invention is proposed to provide an asynchronous motor control system for a conveyor belt of an intelligent medical shelf, which adopts a double closed loop control mode, realizes inner loop control of torque current and exciting current, accurately controls current of an asynchronous motor, and optimizes control performance of the asynchronous motor; meanwhile, the duty ratio setting module and the torque and flux linkage observation module are arranged, so that the steady-state performance and the accuracy performance of the system are further improved, and the circuit structure is simplified.
In one embodiment of the present invention, there is provided an asynchronous motor control system for a conveyor belt of an intelligent medicine shelf, including:
a flux linkage comparator for receiving a flux linkage set value
Magnetic flux linkage observed value
Obtaining the flux linkage error value
A flux linkage PI module for receiving flux linkage error value
PI regulation is carried out to obtain the given value i of the exciting currentd*；
An exciting current comparator for receiving given value i of exciting currentdMeasured value of field current idTo obtain an excitation current error value ed；
d-axis hysteresis module for receiving exciting current error value edGenerating d-axis adjustment signal σd；
A rotation speed comparator for receiving the rotation speed measured value omega and the rotation speed given value omega of the asynchronous motor to obtain a rotation speed error value eω；
A rotation speed PI module for receiving rotation speed error value eωPerforming PI regulation to obtain a torque given value T;
a torque comparator for receiving the given torque value T and the observed torque value T to obtain a torque error value eT；
A torque PI module for receiving a torque error value eTPerforming PI regulation to obtain a given value i of torque currentq*；
A torque current comparator for receiving a given torque current value iqMeasured value of torque and current iqObtaining a torque current error value eq；
A q-axis hysteresis module for receiving the torque current error value eqGenerating a q-axis adjustment signal σq；
A PWM generation module for receiving the d-axis adjustment signal sigmadQ-axis adjustment signal sigmaqMagnetic flux linkage observed value
And PWM waves are generated and used for controlling a three-phase inverter and driving an asynchronous motor for a conveying belt of the intelligent medical shelf.
Further, the control system also comprises a torque and flux linkage observation module for receiving a rotating speed measured value omega and a torque current measured value iqMeasured value of exciting current idStator voltage q-axis measurement uqAnd calculating in real time to obtain a torque observed value T and a flux linkage observed value
Further, the flux linkage observation value
Comprises the following steps:
wherein L isdIs d-axis equivalent inductance, and R is stator resistance.
Further, the torque observation T is:
wherein, PnIs the number of pole pairs, LqIs the q-axis equivalent inductance.
Further, a torque current measurement value iqMeasured value of exciting current idStator voltage q-axis measurement uqThe three-phase output voltage measured value and the three-phase output current measured value of the three-phase inverter are obtained through Clack and Park conversion.
Further, the control system further comprises a duty ratio setting module for receiving the excitation current error value edTorque current error value eqGenerating a duty cycle d; the PWM generation module also generates a PWM wave based on the duty ratio d.
Further, the duty ratio d is:
wherein, alpha and beta are respectively regulating coefficients.
The beneficial technical effects of the invention are as follows:
(1) the invention discloses an asynchronous motor control system for a conveying belt of an intelligent medical shelf, which adopts a double closed-loop control mode, obtains given values of torque current and exciting current by using torque and magnetic linkage outer loop control, realizes torque current and exciting current inner loop control, accurately controls the current of an asynchronous motor, and optimizes the control performance of the asynchronous motor.
(2) The invention discloses a duty ratio setting module, which can calculate the duty ratio only by using the error values of exciting current and torque current, is simple to realize, can fix the switching frequency of a three-phase inverter and improves the steady-state performance of a system.
(3) The invention discloses a torque and flux linkage observation module which is used for observing a torque and flux linkage according to a rotating speed measured value omega and a torque current measured value iqMeasured value of exciting current idStator voltage q-axis measurement uqThe torque observed value T and the flux linkage observed value can be accurately calculated
The calculation is simple, the realization is easy, and simultaneously, the accuracy performance is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a block diagram of an asynchronous motor control system for a conveyor belt of an intelligent medical shelf.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention provides an asynchronous motor control system for a conveying belt of an intelligent medical shelf, which adopts a double closed-loop control mode, realizes inner loop control of torque current and exciting current, accurately controls the current of an asynchronous motor, and optimizes the control performance of the asynchronous motor; meanwhile, the duty ratio setting module and the torque and flux linkage observation module are arranged, so that the steady-state performance and the accuracy performance of the system are further improved, and the circuit structure is simplified.
The invention is described in further detail below with reference to the figures and the embodiments.
Fig. 1 is a block diagram of an asynchronous motor control system for a conveyor belt of an intelligent medical shelf. As shown in fig. 1, the control system includes:
a torque and flux linkage observation module for receiving a rotation speed measured value omega and a torque current measured value iqMeasured value of exciting current idStator voltage q-axis measurement uqAnd calculating in real time to obtain a torque observed value T and a flux linkage observed value
A flux linkage comparator for receiving a flux linkage set value
Magnetic flux linkage observed value
The difference is made between the two to obtain the flux linkage error value
A flux linkage PI module for receiving flux linkage error value
PI regulation is carried out to obtain the given value i of the exciting currentd*；
An exciting current comparator for receiving given value i of exciting currentdMeasurement of field currentValue idThe difference is made between the two to obtain the error value e of the exciting currentd；
d-axis hysteresis module for receiving exciting current error value edGenerating d-axis adjustment signal σd；
A rotation speed comparator for receiving the rotation speed measured value omega and the rotation speed given value omega of the asynchronous motor and subtracting the two values to obtain a rotation speed error value eω；
A rotation speed PI module for receiving rotation speed error value eωPerforming PI regulation to obtain a torque given value T;
a torque comparator for receiving the given torque value T and the observed torque value T, and subtracting them to obtain a torque error value eT；
A torque PI module for receiving a torque error value eTPerforming PI regulation to obtain a given value i of torque currentq*；
A torque current comparator for receiving a given torque current value iqMeasured value of torque and current iqThe difference is made to obtain the torque current error value eq；
A q-axis hysteresis module for receiving the torque current error value eqGenerating a q-axis adjustment signal σq；
A PWM generation module for receiving the d-axis adjustment signal sigmadQ-axis adjustment signal sigmaqMagnetic flux linkage observed value
And the duty ratio d is used for generating PWM waves for controlling the three-phase inverter and driving the asynchronous motor for the conveying belt of the intelligent medical shelf.
A duty ratio setting module for receiving an excitation current error value edTorque current error value eqThe duty cycle d is generated.
In the embodiment, the control system adopts a double closed-loop control mode, the torque and flux linkage outer loop control is utilized to obtain the given values of the torque current and the exciting current, the torque current and exciting current inner loop control is realized, the current of the asynchronous motor can be accurately controlled, and the control performance of the asynchronous motor is optimized.
Further, a torque current measurement value iqMeasured value of exciting current idStator voltage q-axis measurement uqThe three-phase output voltage measured value and the three-phase output current measured value of the three-phase inverter are obtained through Clack and Park conversion.
Further, the specific calculation formula of the d-axis hysteresis module is as follows:
wherein epsilon is a preset hysteresis loop adjusting width.
The d-axis hysteresis module and the set hysteresis are used for adjusting the width epsilon, and the fluctuation of the exciting current can be limited between-epsilon and + epsilon by selecting a proper voltage vector, so that the self-control of the exciting current is realized.
Further, the specific calculation formula of the q-axis hysteresis module is as follows:
the q-axis hysteresis module and the set hysteresis are used for adjusting the width epsilon, and the fluctuation of the torque current can be limited between-epsilon and + epsilon by selecting a proper voltage vector, so that the self-control of the torque current is realized.
Further, the voltage vector space is divided into 6 sectors, wherein the first sector theta 1 is-pi/6; the second sector theta 2 is pi/6-pi/2; the third sector theta 3 is pi/2-5 pi/6; the fourth sector theta 4 is 5 pi/6-7 pi/6; the fifth sector theta 5 is 7 pi/6-3 pi/2; the sixth sector theta 6 is 3 pi/2-11 pi/6.
The PWM generation module is used for generating an observed value according to the flux linkage
Generating sector signals theta 1-theta 6, and adjusting signals sigma according to the sector signals theta 1-theta 6 and d-axisdQ-axis adjustment signal sigmaqThe PWM wave is generated as shown in the following table:
wherein, the voltage space vectors V1-V8 are respectively 100, 110, 010, 011, 001, 101, 000 and 111.
Further, the duty ratio setting module sets a duty ratio d by using given values and measured values of the exciting current and the torque current:
wherein, alpha and beta are respectively regulating coefficients.
In the embodiment, the duty ratio can be calculated by only using the error values of the exciting current and the torque current, the implementation is simple, the switching frequency of the three-phase inverter can be fixed, and the steady-state performance of the system is improved.
Further, according to the mathematical model of the asynchronous motor, the following can be obtained:
wherein, PnIs the number of pole pairs, λd、λqD-axis and q-axis magnetic fluxes, L, respectivelyd、LqD-axis and q-axis equivalent inductances, ud、uqThe stator voltage d-axis and q-axis measured values are respectively, s is a differential operator, and R is stator resistance.
And (3) combining the magnetic flux formula with stator voltage d-axis and q-axis measurement value formulas to obtain:
substituting this formula into the flux formula yields:
after the formula is simulated, the q-axis magnetic flux lambda is foundqObserving the stabilized flux linkage
Does not contribute, and only can intensify the flux linkage observed value under the transient state
The fluctuation of (2) causes flux linkage error, so that the q-axis magnetic flux λ is omittedqCan be simplified to obtain:
therefore, based on this formula, the set torque and flux linkage observer module receives the speed measurement ω, the torque current measurement iqMeasured value of exciting current idStator voltage q-axis measurement uqAnd calculating in real time to obtain a magnetic linkage observed value
Further, the torque and flux linkage observation module is arranged according to the torque formula and the flux linkage observation value
And calculating to obtain a torque observed value T.
In this embodiment, the torque and flux linkage observation module is capable of measuring a torque current i from the rotational speed measurement ωqAnd an exciting currentFlow measurement value idStator voltage q-axis measurement uqThe torque observed value T and the flux linkage observed value can be accurately calculated
The calculation is simple, the realization is easy, and simultaneously, the accuracy performance is high.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
The foregoing description shows and describes several preferred embodiments of the invention, but as aforementioned, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an asynchronous machine control system for conveyer belt of intelligence medicine goods shelves which characterized in that includes:
a flux linkage comparator for receiving a flux linkage set value
Magnetic flux linkage observed value
Obtaining the flux linkage error value
A flux linkage PI module for receiving flux linkage error value
PI regulation is carried out to obtain the given value i of the exciting currentd *；
An exciting current comparator for receiving given value i of exciting currentd *Measured value of exciting current idTo obtain an excitation current error value ed；
d-axis hysteresis module for receiving exciting current error value edGenerating d-axis adjustment signal σd；
A rotation speed comparator for receiving the rotation speed measured value omega and the rotation speed given value omega of the asynchronous motor*Obtaining a rotation speed error value eω；
A rotation speed PI module for receiving rotation speed error value eωPI regulation is carried out to obtain a given torque value T*；
A torque comparator for receiving a given torque value T*Obtaining a torque error value e from the torque observed value TT；
A torque PI module for receiving a torque error value eTPerforming PI regulation to obtain a given value i of torque currentq *；
A torque current comparator for receiving a given torque current value iq *Torque current measurement iqObtaining a torque current error value eq；
A q-axis hysteresis module for receiving the torque current error value eqGenerating a q-axis adjustment signal σq；
A PWM generation module for receiving the d-axis adjustment signal sigmadQ-axis adjustment signal sigmaqMagnetic flux linkage observed value
And PWM waves are generated and used for controlling a three-phase inverter and driving an asynchronous motor for a conveying belt of the intelligent medical shelf.
2. The asynchronous motor control system for a conveyor belt of claim 1, further comprising a torque and flux linkage observation module for receiving a speed measurement ω and a torque current measurement iqMeasured value of exciting current idStator voltage q-axis measurement uqAnd calculating in real time to obtain a torque observed value T and a flux linkage observed value
3. The asynchronous motor control system for a conveyor belt of claim 2, wherein the flux linkage observation value
Comprises the following steps:
wherein L isdIs d-axis equivalent inductance, and R is stator resistance.
4. The asynchronous motor control system for the conveyor belt according to claim 3, wherein the torque observation value T is:
wherein, PnIs the number of pole pairs, LqIs the q-axis equivalent inductance.
5. Asynchronous motor control system for a conveyor belt according to claim 2, characterised in that the torque current measurement iqMeasured value of exciting current idStator voltage q-axis measurement uqThree-phase output voltage measurement and three-phase output current measurement by three-phase inverterValues were obtained by the Clack and Park transformations.
6. The asynchronous motor control system of claim 1, further comprising a duty cycle setting module configured to receive an excitation current error value edTorque current error value eqGenerating a duty cycle d; the PWM generation module also generates a PWM wave based on the duty ratio d.
7. The asynchronous motor control system for the conveyor belt of claim 6, wherein the duty cycle d is:
wherein, alpha and beta are respectively regulating coefficients.
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| CN107453661A (en) * | 2017-08-04 | 2017-12-08 | 南京理工大学 | A kind of system and method that motor torque ripple is reduced based on duty-cycle |
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| US4926105A (en) * | 1987-02-13 | 1990-05-15 | Mischenko Vladislav A | Method of induction motor control and electric drive realizing this method |
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| CN107453661A (en) * | 2017-08-04 | 2017-12-08 | 南京理工大学 | A kind of system and method that motor torque ripple is reduced based on duty-cycle |
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